Display control device, method, and program product

Abstract

The invention provides a display control device, a method, and a program product, which can prevent the position deviation of a mark relative to an object from being obviously found. Display control unit displays, on an image (90) of an object (preceding vehicle) included in a foreground of a vehicle visually recognized through a display region (74) of an AR-HUD, a mark (100) having a width in the vertical and width directions of the vehicle and having an outer shape at an outer edge in the width direction of the vehicle not parallel to the vertical direction of the vehicle, the image (90) being in the display region (74) of the AR-HUD and at a corresponding position.

Description

Technical Field

[0001] The present disclosure relates to a display control device, a display control method, a program product, and a non-transitory storage medium storing a display control program. Background Art

[0002] Japanese Patent No. 6536855 discloses a technique of displaying a sign on a HUD (Head Up Display) so as to overlap with a preceding vehicle when following the preceding vehicle ahead of the host vehicle.

[0003] When a sign is displayed at a position corresponding to an object such as a preceding vehicle, since the accuracy of position detection of the object varies depending on, for example, the color of the object or the distance from the object, the sign may be displayed at a position offset from the object. At this time, the degree to which the user recognizes the position offset of the sign varies depending on the shape of the sign, and depending on the shape of the sign, the position offset of the sign may be clearly noticed by the user. Summary of the Invention

[0004] The present disclosure has been made in view of the above facts, and provides a display control device, a display control method, a program product, and a non-transitory storage medium storing a display control program that can suppress a situation where the position offset of a sign with respect to an object is clearly noticed by a user.

[0005] The display control device according to the first aspect includes a display control unit that causes a sign composed of a plurality of partial images arranged at intervals in the vehicle width direction and having sides along the long side direction not parallel to the vehicle up-and-down direction to be displayed at a position in a display area of a display instrument that corresponds to an object included in a foreground of a vehicle visually recognized through the display area of the display instrument or an object included in an image simulating the foreground of the vehicle to be displayed on the display area of the display instrument.

[0006] In the first mode, the identifier displayed at a position corresponding to an object included in the foreground of the vehicle or an image simulating the foreground of the vehicle is configured to be composed of a plurality of partial images arranged at intervals in the vehicle width direction, and the sides of the partial images along the long side direction are not parallel to the vehicle vertical direction. As a result, the identifier has a plurality of edges with different positions in the vehicle width direction on the end side in the vehicle width direction. Moreover, since each of these edges with different positions in the vehicle width direction is interpreted as a reference point in the identifier recognition performed by the user, it is difficult for the user to recognize the exact position offset of the identifier relative to the object. In addition, since the identifier is structured such that a plurality of partial images are arranged at intervals in the vehicle width direction, it is difficult for the central portion in the vehicle width direction of the identifier, etc. to be interpreted as a reference point in the identifier recognition performed by the user. Therefore, according to the first mode, it is possible to suppress the situation where the position offset of the identifier relative to the object is clearly detected.

[0007] The display control device according to the second mode includes a display control unit that causes an identifier having a polygonal shape with a short side, the short side being located on the end side in the vehicle width direction and not parallel to the vehicle vertical direction, to be displayed at a position that is a position corresponding to an object included in the foreground of the vehicle visually confirmed through the display area of the display instrument, or a position corresponding to an object included in an image simulating the foreground of the vehicle to be displayed on the display area of the display instrument.

[0008] In the second mode, the identifier displayed at a position corresponding to an object included in the foreground of the vehicle or an image simulating the foreground of the vehicle is configured to have a polygonal shape with a short side, the short side being located on the end side in the vehicle width direction and not parallel to the vehicle vertical direction. As a result, the identifier, similarly to the identifier according to the first mode, has a plurality of edges with different positions in the vehicle width direction on the end side in the vehicle width direction. Moreover, since each of these edges with different positions in the vehicle width direction is interpreted as a reference point in the identifier recognition performed by the user, it is difficult for the user to recognize the exact position offset of the identifier relative to the object. Therefore, according to the second mode, it is possible to suppress the situation where the position offset of the identifier relative to the object is clearly detected, similarly to the first mode. In addition, in the first mode and the second mode, the position corresponding to the object may be a position overlapping the object, a position adjacent to the object, or a position separated from the object by an interval less than a predetermined value.

[0009] The third mode is that, in the first mode, the partial images are arranged at equal intervals in the vehicle width direction.

[0010] When there are differences in density in the configuration of partial images, multiple partial images corresponding to the portions with smaller intervals (the portions with denser configurations) are likely to be recognized as a single image in the identification recognition performed by the user. Moreover, in the multiple partial images recognized as a single image, the end portions or the central portion in the vehicle width direction are likely to be interpreted as reference points in the identification recognition performed by the user. In contrast, in the third mode, since the partial images are arranged at equal intervals in the vehicle width direction, compared with the case where there are differences in density in the configuration of the partial images, it is possible to more effectively suppress the situation where the position shift of the identification with respect to the object is significantly detected.

[0011] The fourth mode is that, in the first mode, the partial image has a shape in which one of the upper end portion and the lower end portion in the vehicle vertical direction is parallel to the vehicle width direction and the other is parallel to the vehicle vertical direction.

[0012] In the fourth mode, regarding the portion parallel to the vehicle width direction among the upper end portion and the lower end portion in the vehicle vertical direction, it is difficult to use it as a reference point for the position shift with respect to the vehicle width direction in the identification recognition performed by the user. In addition, regarding the portion parallel to the vehicle vertical direction among the upper end portion and the lower end portion, it is difficult to use it as a reference point for the position shift with respect to the vehicle vertical direction in the identification recognition performed by the user. Thereby, it is possible to suppress the situation where the position shift of the identification with respect to the object in the vehicle width direction and the vehicle vertical direction is significantly detected.

[0013] In addition, "parallel" in the fourth mode also includes a state in which an angular difference less than or equal to a predetermined value recognized as parallel in the identification recognition performed by the user occurs with respect to "geometric parallel".

[0014] The fifth mode is that, in the first mode or the second mode, the identification is asymmetric in the vehicle width direction.

[0015] When the identification is asymmetric in the vehicle width direction, compared with the case where the identification is symmetric in the vehicle width direction, the central portion in the vehicle width direction of the identification is difficult to be interpreted as a reference point in the identification recognition performed by the user. Therefore, according to the fifth mode, it is possible to further suppress the situation where the position shift of the identification with respect to the object is significantly detected.

[0016] The sixth mode is that, in the first mode or the second mode, the display control unit obtains the reliability related to the recognition of the position of the object, and changes the display mode of the identification based on the obtained reliability.

[0017] In the sixth mode, since the display mode of the identification is changed based on the reliability related to the recognition of the position of the object, it is possible to enable the user to recognize the reliability related to the recognition of the position of the object.

[0018] The seventh method is that, in the sixth method, the display control unit obtains the reliability in the vehicle up-and-down direction related to the identification of the position of the object, and based on the obtained reliability in the vehicle up-and-down direction, changes the width of the identification in the vehicle up-and-down direction as a change in the display method of the identification.

[0019] According to the seventh method, by simply changing the display method such as changing the width of the identification in the vehicle up-and-down direction, the user can identify the reliability in the vehicle up-and-down direction related to the identification of the position of the object.

[0020] The eighth method is that, in the seventh method, as the obtained reliability in the vehicle up-and-down direction becomes lower, the display control unit increases the width of the identification in the vehicle up-and-down direction.

[0021] According to the eighth method, the user can intuitively identify the reliability in the vehicle up-and-down direction related to the identification of the position of the object. In addition, since the width of the identification in the vehicle up-and-down direction increases as the reliability in the vehicle up-and-down direction related to the identification of the position of the object becomes lower, in the case where the reliability in the vehicle up-and-down direction related to the identification of the position of the object is relatively low, it is possible to suppress the situation where the position deviation of the identification relative to the object is significantly noticed.

[0022] The ninth method is that, in the sixth method, the display control unit obtains the reliability in the vehicle width direction related to the identification of the position of the object, and based on the obtained reliability in the vehicle width direction, changes the lightness and darkness of the color of the identification in the vehicle width direction as a change in the display method of the identification.

[0023] According to the ninth method, by simply changing the display method such as changing the lightness and darkness of the color of the identification in the vehicle width direction, the user can identify the reliability in the vehicle width direction related to the identification of the position of the object.

[0024] The tenth method is that, in the ninth method, as the obtained reliability in the vehicle width direction becomes lower, the display control unit increases the length of the light-colored part with a lighter color in the identification along the vehicle width direction.

[0025] According to the tenth method, the user can intuitively identify the reliability in the vehicle width direction related to the identification of the position of the object.

[0026] In the eleventh mode, in the first mode, in the identification, a plurality of partial images are arranged at intervals in the vehicle width direction, and the display control unit shrinks the image of the identification as the distance between the vehicle and the object increases and displays it on the display area of the display instrument. Further, the interval in the vehicle width direction of the partial images and the number of the partial images are adjusted so that the interval in the vehicle width direction of the partial images in the shrunk image of the identification is greater than the resolution of the eyes.

[0027] In the eleventh mode, the image of the identification is shrunk as the distance between the vehicle and the object increases and is displayed on the display area of the display instrument. Thus, as the distance between the vehicle and the object increases, the interval between the partial images becomes smaller. Therefore, in the identification performed by the user, the entire identification is likely to be recognized as a single image. In contrast, in the eleventh mode, since the interval in the vehicle width direction of the partial images and the number of the partial images are adjusted so that the interval in the vehicle width direction of the partial images in the shrunk image of the identification is greater than the resolution of the eyes, the situation where the entire identification is recognized as a single image is suppressed. Therefore, according to the eleventh mode, even when the distance between the vehicle and the object is large, the situation where the position shift of the identification with respect to the object is clearly detected can be suppressed.

[0028] In the twelfth mode, in the first mode or the second mode, the display instrument is a head-up display.

[0029] According to the twelfth mode, when the identification is displayed on the display area of the head-up display, the situation where the position shift of the identification with respect to the object is clearly detected can be suppressed.

[0030] The display control method according to the thirteenth mode is executed by a computer to perform the following processing. The processing includes: causing an identification composed of a plurality of partial images arranged at intervals in the vehicle width direction and having sides along the long side direction not parallel to the vehicle up-down direction to be displayed at a position in the display area of the display instrument corresponding to an object included in the foreground of the vehicle visually confirmed through the display area of the display instrument, or at a position corresponding to an object included in an image simulating the foreground of the vehicle to be displayed on the display area of the display instrument.

[0031] According to the thirteenth mode, similar to the first mode, the situation where the position shift of the identification with respect to the object is clearly detected can be suppressed.

[0032] The display control method according to the fourteenth aspect causes a computer to execute the following processes, which include: displaying an identification mark in a polygon shape with a short side, where the short side is located on the end side in the vehicle width direction and is not parallel to the vehicle vertical direction, at a position in the display area of the display instrument that corresponds to an object included in the foreground of the vehicle visually confirmed through the display area of the display instrument, or at a position corresponding to an object included in an image simulating the foreground of the vehicle to be displayed on the display area of the display instrument.

[0033] According to the fourteenth aspect, similar to the second aspect, it is possible to suppress a situation where the positional deviation of the identification mark with respect to the object is significantly noticed.

[0034] The fifteenth aspect is a non - transitory storage medium storing a program that causes a computer to execute display control, where the display control includes: displaying an identification mark composed of a plurality of partial images arranged at intervals in the vehicle width direction and having a side along the long side direction not parallel to the vehicle vertical direction, at a position in the display area of the display instrument that corresponds to an object included in the foreground of the vehicle visually confirmed through the display area of the display instrument, or at a position corresponding to an object included in an image simulating the foreground of the vehicle to be displayed on the display area of the display instrument.

[0035] According to the fifteenth aspect, similar to the first aspect, it is possible to suppress a situation where the positional deviation of the identification mark with respect to the object is significantly noticed.

[0036] The sixteenth aspect is a non - transitory storage medium storing a program that causes a computer to execute display control, where the display control includes: displaying an identification mark in a polygon shape with a short side, where the short side is located on the end side in the vehicle width direction and is not parallel to the vehicle vertical direction, at a position in the display area of the display instrument that corresponds to an object included in the foreground of the vehicle visually confirmed through the display area of the display instrument, or at a position corresponding to an object included in an image simulating the foreground of the vehicle to be displayed on the display area of the display instrument.

[0037] According to the sixteenth aspect, similar to the second aspect, it is possible to suppress a situation where the positional deviation of the identification mark with respect to the object is significantly noticed.

[0038] The seventeenth mode is a program product having a program that causes a computer to execute display control, wherein the display control includes: causing an identifier composed of a plurality of partial images arranged at intervals in the vehicle width direction and having sides along the long side direction not parallel to the vehicle up-down direction to be displayed at a position in the display area of a display device that corresponds to an object included in the foreground of the vehicle visually confirmed through the display area of the display device, or to an object included in an image simulating the foreground of the vehicle to be displayed on the display area of the display device.

[0039] The eighteenth mode is a program product having a program that causes a computer to execute display control, wherein the display control includes: causing an identifier having a polygonal shape with a short side and having the short side located on the end side in the vehicle width direction and not parallel to the vehicle up-down direction to be displayed at a position in the display area of a display device that corresponds to an object included in the foreground of the vehicle visually confirmed through the display area of the display device, or to an object included in an image simulating the foreground of the vehicle to be displayed on the display area of the display device.

[0040] According to the present disclosure, it is possible to suppress a situation where a user clearly discovers a positional deviation of the identifier with respect to the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a block diagram showing a schematic configuration of an in-vehicle system according to an embodiment.

[0042] Figure 2 It is a functional block diagram showing a camera unit and a display control ECU.

[0043] Figure 3 It is an explanatory diagram showing a schematic configuration etc. of an AR-HUD.

[0044] Figure 4 It is a diagram showing an identifier according to the first embodiment.

[0045] Figure 5 It is a flowchart showing a display control process according to the first embodiment.

[0046] Figure 6A It is an image diagram showing a state where an identifier is displayed at an appropriate position with respect to a preceding vehicle.

[0047] Figure 6B It is an image diagram showing a state where the identifier is displayed with a right deviation with respect to a preceding vehicle.

[0048] Figure 6CAn image diagram representing a state of left-offset display identified with respect to a preceding vehicle.

[0049] Figure 7A An image diagram representing a state of upward-offset display identified with respect to a preceding vehicle.

[0050] Figure 7B An image diagram representing a state of downward-offset display identified with respect to a preceding vehicle.

[0051] Figure 8 A flowchart representing the display control process related to the second embodiment.

[0052] Figure 9A An image diagram representing a manner in which the length of the vehicle's vertical direction of the identification changes according to the reliability of the vehicle's vertical direction.

[0053] Figure 9B An image diagram representing a manner in which the length of the vehicle's vertical direction of the identification changes according to the reliability of the vehicle's vertical direction.

[0054] Figure 10A An image diagram representing a manner in which the length of the vehicle's vertical direction of the identification changes according to the reliability of the vehicle's vertical direction.

[0055] Figure 10B An image diagram representing a manner in which the length of the vehicle's vertical direction of the identification changes according to the reliability of the vehicle's vertical direction.

[0056] Figure 11A An image diagram representing a manner in which the proportion of the dark part of the identification changes according to the reliability of the vehicle's width direction.

[0057] Figure 11B An image diagram representing a manner in which the proportion of the dark part of the identification changes according to the reliability of the vehicle's width direction.

[0058] Figure 11C An image diagram representing a manner in which the proportion of the dark part of the identification changes according to the reliability of the vehicle's width direction.

[0059] Figure 12A An image diagram representing a manner in which the proportion of the dark part of the identification changes according to the reliability of the vehicle's width direction.

[0060] Figure 12B An image diagram representing a manner in which the proportion of the dark part of the identification changes according to the reliability of the vehicle's width direction.

[0061] Figure 12CAn image diagram showing a way in which the proportion of the dark part of the sign changes according to the reliability in the vehicle width direction.

[0062] Figure 13 A flowchart showing the display control process related to the third embodiment.

[0063] Figure 14A An image diagram showing an example of the display of the sign in close-range display and long-range display.

[0064] Figure 14B A line diagram showing an example of changes in the number, interval, etc. of partial images of the sign corresponding to the distance from the preceding vehicle.

[0065] Figure 14C An explanatory diagram for explaining the difference in the display of the sign in the case where the number and interval of partial images do not change in long-range display and in the case where the number and interval of partial images change in long-range display.

[0066] Figure 15 An image diagram showing an example of a variant of the sign related to the present disclosure.

[0067] Figure 16 An image diagram showing an example of a variant of the sign related to the present disclosure.

[0068] Figure 17 An image diagram showing an example of a variant of the sign related to the present disclosure.

[0069] Figure 18 An image diagram showing an example of a variant of the sign related to the present disclosure.

[0070] Figure 19 An image diagram showing an example of a variant of the sign related to the present disclosure.

[0071] Figure 20 An image diagram showing an example of a variant of the sign related to the present disclosure.

[0072] Figure 21 An image diagram showing an example of a variant of the sign related to the present disclosure.

[0073] Figure 22 An image diagram showing an example of a variant of the sign related to the present disclosure.

[0074] Figure 23 An image diagram showing an example of a variant of the sign related to the present disclosure.

[0075] Figure 24An image diagram showing an example of a variant of the identifier involved in the present disclosure. Detailed implementation mode

[0076] Hereinafter, with reference to the accompanying drawings, an example of an implementation mode of the present disclosure will be described in detail.

[0077] (First implementation mode)

[0078] As Figure 1 shown, the vehicle-mounted system 10 involved in the present implementation mode includes a communication bus 12. On the communication bus 12, a surrounding condition acquisition device group 14, a vehicle driving 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. In addition, Figure 1 only a part of the vehicle-mounted system 10 is shown. In addition, hereinafter, the vehicle equipped with the vehicle-mounted system 10 will be referred to as the present vehicle.

[0079] As a device for acquiring information indicating what kind of condition the surrounding environment of the present vehicle is, the surrounding condition acquisition device group 14 includes a GNSS (Global Navigation Satellite System) device 16, a vehicle-mounted communication device 18, a navigation system 20, a radar device 22, a camera unit 24, etc.

[0080] The GNSS device 16 receives GNSS signals from multiple GNSS satellites and locates 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 road-to-vehicle communication with roadside devices. The navigation system 20 includes a map information storage unit 20A for storing map information, and performs the following processing, that is, based on the position information obtained from the GNSS device 16 and the map information stored in the map information storage unit 20A, the position of the present vehicle is displayed on the map, or a path to the destination is determined and guided.

[0081] 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 excludes roadside objects such as noise and guardrails 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 with respect to monitoring target objects such as pedestrians and other vehicles.

[0082] The camera unit 24 captures the surroundings of the host vehicle through multiple cameras and outputs the captured images. In addition, although not shown in the figure, the camera unit 24 incorporates a CPU (Central Processing Unit), a ROM (Read Only 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). In the storage unit, a predetermined program is stored for causing the CPU of the camera unit 24 to function as the 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 detects and outputs the distance between the host vehicle and the preceding vehicle and the relative position in the vehicle width direction.

[0083] In addition, as multiple sensors for obtaining the driving state of the vehicle, the vehicle driving state detection sensor group 26 includes a steering angle sensor 28 for detecting the steering angle of the host vehicle, a vehicle speed sensor 30 for detecting the driving speed of the host vehicle, and an acceleration sensor 32 for detecting the acceleration applied to the host vehicle.

[0084] On the ADAS-ECU 34, a throttle ACT (Actuator) 36 for changing the throttle opening of the host vehicle, a brake ACT 38 for changing the braking force generated by the braking device of the host vehicle, and a steering ACT 40 for changing the steering amount of the steering device of the host vehicle are respectively connected.

[0085] 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). The 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 executes autonomous driving processing for automatically driving the host vehicle without being accompanied by driving operations performed by the occupants of the host vehicle.

[0086] The automatic driving process is a process of judging the conditions of the host vehicle and its surroundings based on the information obtained from the device group 14 and the vehicle driving state detection sensor group 26 acquired from the surrounding conditions, and controlling the throttle ACT36, the brake ACT38, and the steering ACT40. An example of the automatic driving process is ACC (Adaptive Cruise Control) in which the host vehicle travels in a manner of following a preceding vehicle recognized by the camera unit 24.

[0087] The display control ECU 42 includes a CPU 44, memories 46 such as a ROM and a RAM, non-volatile storage units 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 connected to each other via an internal bus 52 so as to be able to communicate with each other. In the storage unit 48, a display control program 54 and identification image data 55 are stored. By reading the display control program 54 from the storage unit 48, expanding it in the memories 46, and executing the display control program 54 expanded in the memories 46 by the CPU 44, the display control ECU 42 functions as Figure 2 the display control unit 72 shown, and executes the display control process described later.

[0088] An AR (Augmented Reality) head-up display (hereinafter referred to as AR-HUD) 56 and an instrument display 68 are connected to the display control ECU 42. The AR-HUD 56 according to the present embodiment is a small HUD that uses reflection on the windshield or the like to set a part of the front view of the user who is a passenger of the host vehicle as a display area 74 (imaged in the lower foreground inside) by marking symbols 74 as shown in Figure 6A etc. In addition, the instrument display 68 is a display provided on the instrument panel of the host vehicle. The display control ECU 42 controls the information display on the AR-HUD 56 and the instrument display 68.

[0089] As Figure 3As shown, the AR-HUD 56 includes a light source unit 58 composed of an LED (Light Emitting Diode), etc. On the light emission side of the light source unit 58, a transmissive display unit 60 composed of an LCD (Liquid Crystal Display), etc. is arranged. On the light emission side of the display unit 60, a convex mirror 62 and a concave mirror 64 are arranged in sequence. The light that has passed through the display unit 60 is reflected by the convex mirror 62 and the concave mirror 64 in sequence and then irradiated onto the windshield of the vehicle. The AR-HUD 56 is designed with an optical system so that an image (such as the identification 100 described later) displayed by the display unit 60 is imaged on a virtual image plane 66 that is floating in the air at a distance L1 to L2 from the user and is inclined with respect to the vehicle's up and down direction. Thereby, it can make the user have an illusion that the image imaged on the virtual image plane 66 overlaps on the road surface in front of the vehicle.

[0090] In addition, the identification image data 55 stored in the storage unit 48 of the display control ECU 42 is data representing Figure 4 the identification 100 shown. The identification 100 according to the present embodiment has a width in the vehicle's up and down direction and the vehicle width direction, and the outer shape at the outer edge in the vehicle width direction is not parallel to the vehicle's up and down direction. More specifically, the identification 100 is composed of a plurality of partial images 102 of the same shape arranged at equal intervals in the vehicle width direction, and each partial image 102 is substantially trapezoidal. That is, each partial image 102 has a pair of parallel sides 104, 106 composed of straight lines inclined with respect to the vehicle's up and down direction and the vehicle width direction. In addition, in each partial image 102, the upper ends in the vehicle's up and down direction of the sides 104, 106 are connected to each other by a side 108 parallel to the vehicle width direction, and the lower ends in the vehicle's up and down direction of the sides 104, 106 are connected to each other by a side 110 parallel to the vehicle's up and down direction. Moreover, the positions in the vehicle's up and down direction of the sides 108, 110 in the plurality of partial images 102 of the identification 100 are aligned.

[0091] In addition, the display control ECU 42 is an example of a display control device and a display control unit. In addition, the AR-HUD 56 is an example of a display instrument. In addition, the identification 100 is an example of "an identification composed of a plurality of partial images arranged at intervals in the vehicle width direction and the sides along the long side direction of the partial image are not parallel to the vehicle's up and down direction".

[0092] Next, as the operation of the first embodiment, with reference to Figure 5 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.

[0093] In step 200 of the display control process, the display control unit 72 determines whether the AR display condition is satisfied. In the present embodiment, when the ADAS-ECU 34 is executing ACC, the display control unit 72 determines that the AR display condition is satisfied. When the ADAS-ECU 34 is not executing ACC, the determination in step 200 is negative, and the determination in step 200 is repeated. In this case, the identifier 100 is not displayed on the display area 74 of the AR-HUD 56.

[0094] In addition, when the ADAS-ECU 34 is executing ACC, the determination in step 200 is affirmative, and the process proceeds to step 202. In step 202, the display control unit 72 obtains the distance between the host vehicle and the preceding vehicle that is set as the following object in the ACC executed by the ADAS-ECU 34, and the relative position in the vehicle width direction, from the camera unit 24.

[0095] In addition, in step 208, the display control unit 72 reads the identifier image data 55 from the storage unit 48, and based on the read identifier image data 55, creates the identifier 100 that is to be displayed on the display area 74 of the AR-HUD 56 when the preceding vehicle is at a reference position where the distance between the preceding vehicle and the host vehicle becomes a pre-specified reference distance.

[0096] In the next step 214, the display control unit 72 enlarges or reduces the identifier 100 according to the distance difference between the distance to the preceding vehicle obtained in step 202 and the above-mentioned reference distance. Also, as Figure 14B shown as an example, the scaling ratio of the identifier 100 is determined such that the scaling ratio becomes smaller (changes in the shrinking direction) as the distance to the preceding vehicle increases.

[0097] In step 220, the display control unit 72 calculates the display position of the identifier 100 for causing the identifier 100 to be displayed at a position corresponding to the image 90 of the preceding vehicle in the display area 74 (for example, refer to Figure 6A ) on the AR-HUD 56, based on the distance to the preceding vehicle and the relative position in the vehicle width direction. Then, the display control unit 72 controls the AR-HUD 56 so that the enlarged or reduced identifier 100 is displayed at a position corresponding to the image 90 of the preceding vehicle. When the process of step 220 ends, the process returns to step 200.

[0098] Through the above display control process, during the period when the ADAS-ECU 34 is executing ACC, at a position corresponding to the image 90 of the preceding vehicle in the display area 74 of the AR-HUD 56 (for example, refer to Figure 6A) The identification 100 is displayed thereon. However, the accuracy of the position detection of the preceding vehicle performed by the camera unit 24 varies depending on, for example, the color of the preceding vehicle, the distance from the preceding vehicle, the weather, etc. Therefore, for example, as Figure 6B , Figure 6C , Figure 7A , Figure 7B shows, the identification 100 may sometimes be displayed at a shifted position relative to the image 90 of the preceding vehicle.

[0099] Additionally, Figure 6B shows a state (right shift) where the identification 100 is displayed at a position shifted to the right in the vehicle width direction relative to the appropriate display position of the identification 100 shown in Figure 6A . Additionally, Figure 6C shows a state (left shift) where the identification 100 is displayed at a position shifted to the left in the vehicle width direction relative to the appropriate display position of the identification 100 shown in Figure 6A . Additionally, Figure 7A shows a state (upward shift) where the identification 100 is displayed at a position shifted upward in the vehicle vertical direction relative to the appropriate display position of the identification 100 shown in Figure 6A . Additionally, Figure 7B shows a state (downward shift) where the identification 100 is displayed at a position shifted downward in the vehicle vertical direction relative to the appropriate display position of the identification 100 shown in Figure 6A .

[0100] In contrast, as Figure 4 shows, the identification 100 according to the present embodiment has a width in the vehicle vertical direction and the vehicle width direction, and the outer shape at the outer edge in the vehicle width direction is not parallel to the vehicle vertical direction. In addition, the identification 100 is composed of a plurality of partial images 102 of the same shape arranged at equal intervals in the vehicle width direction, and each partial image 102 is substantially trapezoidal in shape. That is, each partial image 102 has a pair of parallel sides 104, 106 formed by straight lines inclined with respect to the vehicle vertical direction and the vehicle width direction. In addition, in each partial image 102, the upper ends in the vehicle vertical direction of the sides 104, 106 are connected to each other by a side 108 parallel to the vehicle width direction, and the lower ends in the vehicle vertical direction of the sides 104, 106 are connected to each other by a side 110 parallel to the vehicle vertical direction.

[0101] Since the identification 100 is set to the above shape, for example, at the left end in the vehicle width direction of the identification 100, Figure 4 the edges within the range indicated by the symbol 112 and the edges within the range indicated by the symbol 114 will be respectively interpreted as reference points in the identification recognition performed by the user. Thus, from Figure 6B ,Figure 6C , Figure 7A , Figure 7B It may also be known that it is difficult for the user to recognize the precise position offset of the identifier 100 relative to the image 90 of the preceding vehicle. Therefore, it is possible to suppress the situation where the position offset of the identifier 100 relative to the image 90 of the preceding vehicle is significantly detected by the user.

[0102] As described above, in the first embodiment, the display control unit 72 causes the identifier 100, which is composed of a plurality of partial images arranged at intervals in the vehicle width direction and the sides of the partial images along the long side direction are not parallel to the vehicle up-down direction, to be displayed at a position corresponding to an object included in the foreground of the vehicle passing through the display area 74 of the AR-HUD 56 in the display area 74 of the AR-HUD 56. Thereby, it is possible to suppress the situation where the position offset of the identifier 100 relative to the object is significantly detected.

[0103] In addition, in the first embodiment, since the partial images 102 are arranged at equal intervals in the vehicle width direction, it is possible to more effectively suppress the situation where the position offset of the identifier 100 relative to the object is significantly detected compared to the case where there are differences in the arrangement density of the partial images 102.

[0104] Moreover, in the first embodiment, since the partial images 102 are shaped such that one of the upper end and the lower end in the vehicle up-down direction is parallel to the vehicle width direction and the other is parallel to the vehicle up-down direction, it is possible to suppress the situation where the position offset of the identifier 100 in the vehicle width direction and the vehicle up-down direction relative to the object is significantly detected.

[0105] In addition, in the first embodiment, since the identifier 100 is asymmetric left and right in the vehicle width direction, it is possible to further suppress the situation where the position offset of the identifier 100 relative to the object is significantly detected.

[0106] (Second Embodiment)

[0107] Next, a second embodiment of the present disclosure will be described. In addition, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

[0108] The camera unit 24 according to the second embodiment not only detects the distance from the preceding vehicle and the relative position in the vehicle width direction, but also detects the reliability of the position detection of the preceding vehicle in the vehicle up-down direction and the vehicle width direction based on the color of the preceding vehicle, the distance from the preceding vehicle, the weather, etc.

[0109] Next, with reference to Figure 8, the display control process related to the second embodiment will be described. In the display control process related to the second embodiment, when it is determined that the AR display condition is satisfied and the determination in step 200 is affirmative, the process proceeds to step 206. In step 206, the display control unit 72 acquires the distance from the camera unit 24 to the preceding vehicle, the relative position in the vehicle width direction, the reliability in the vehicle vertical direction and the vehicle width direction in the position recognition of the preceding vehicle, respectively.

[0110] In the next step 208, the display control unit 72 creates the marker 100 at the reference position. Then, in step 210, the display control unit 72 changes the display mode of the marker 100 created in step 208, specifically, the length of the marker 100 in the vehicle vertical direction, according to the reliability in the vehicle vertical direction in the position recognition of the preceding vehicle acquired from the camera unit 24.

[0111] Specifically, when the reliability in the vehicle vertical direction in the position recognition of the preceding vehicle is equal to or higher than the threshold value, as Figure 9A and Figure 10A shown, the display control unit 72 relatively shortens the length of the marker 100 in the vehicle vertical direction. In this case, the effect of suppressing the obvious discovery of the position deviation of the marker 100 in the vehicle vertical direction becomes smaller, and the position in the vehicle vertical direction can be accurately recognized by the marker 100. On the other hand, when the reliability in the vehicle vertical direction in the position recognition of the preceding vehicle is less than the threshold value, as Figure 9B and Figure 10B shown, the display control unit 72 relatively lengthens the length of the marker 100 in the vehicle vertical direction. In this case, the effect of suppressing the obvious discovery of the position deviation of the marker 100 in the vehicle vertical direction becomes larger. Moreover, by changing the length of the marker 100 in the vehicle vertical direction according to the reliability in the vehicle vertical direction in the position recognition of the preceding vehicle as described above, the user can intuitively recognize the reliability in the vehicle vertical direction related to the position recognition of the preceding vehicle.

[0112] In addition, in step 212, the display control unit 72 changes the display mode of the marker 100, specifically, the ratio of the dark part to the light part of the marker 100 along the vehicle width direction, according to the reliability in the vehicle width direction in the position recognition of the preceding vehicle acquired from the camera unit 24.

[0113] Specifically, when the reliability in the vehicle width direction in the position recognition of the preceding vehicle is equal to or higher than the first threshold value, as Figure 11A and Figure 12AAs shown, the display control unit 72 sets the ratio of the dark portion 100A of the identifier 100 in the vehicle width direction to 100%. In addition, when the reliability in the vehicle width direction in the position recognition of the preceding vehicle is less than the first threshold and is equal to or greater than the second threshold (the first threshold > the second threshold), as Figure 11B and Figure 12B shown, the display control unit 72 sets the ratio of the dark portion 100A of the identifier 100 in the vehicle width direction to a medium level, and sets the remaining portion other than the dark portion 100A as the light portion 100B. In addition, when the reliability in the vehicle width direction in the position recognition of the preceding vehicle is less than the second threshold, as Figure 11C and Figure 12C shown, the display control unit 72 sets the ratio of the light portion 100B of the identifier 100 in the vehicle width direction to 100%. In this way, by changing the ratio of the dark portion 100A and the light portion 100B of the identifier 100 in the vehicle width direction according to the reliability in the vehicle width direction in the position recognition of the preceding vehicle as described above, the user can intuitively recognize the reliability in the vehicle width direction related to the position recognition of the preceding vehicle.

[0114] Regarding the processing of the next steps 214 and 220, since it is the same as that described in the first embodiment, the description is omitted.

[0115] In this way, in the second embodiment, the display control unit 72 obtains the reliability related to the recognition of the position of the preceding vehicle, and changes the display mode of the identifier 100 based on the obtained reliability related to the recognition of the position of the preceding vehicle. Thereby, the user can recognize the reliability related to the recognition of the position of the preceding vehicle.

[0116] In addition, in the second embodiment, the display control unit 72 obtains the reliability in the vehicle up-down direction related to the recognition of the position of the preceding vehicle, and changes the width of the identifier 100 in the vehicle up-down direction as a change in the display mode of the identifier 100 based on the obtained reliability in the vehicle up-down direction related to the recognition of the position of the preceding vehicle. Thereby, through a simple change in the display mode such as changing the width of the identifier 100 in the vehicle up-down direction, the user can recognize the reliability in the vehicle up-down direction related to the recognition of the position of the preceding vehicle.

[0117] In addition, in the second embodiment, as the reliability in the vehicle vertical direction related to the recognition of the position of the preceding vehicle obtained becomes lower, the display control unit 72 increases the width of the identification 100 in the vehicle vertical direction. Thereby, the user can intuitively recognize the reliability in the vehicle vertical direction related to the recognition of the position of the preceding vehicle, and when the reliability in the vehicle vertical direction related to the recognition of the position of the preceding vehicle is low, it is possible to suppress the case where the position deviation of the identification 100 with respect to the position of the preceding vehicle is significantly detected.

[0118] Moreover, in the second embodiment, the display control unit 72 obtains the reliability in the vehicle width direction related to the recognition of the position of the preceding vehicle, and based on the obtained reliability in the vehicle width direction related to the recognition of the position of the preceding vehicle, as a change in the display mode of the identification 100, the lightness or darkness of the color of the identification 100 is changed in the vehicle width direction. Thereby, by such a simple change in the display mode that the lightness or darkness of the color of the identification 100 is changed in the vehicle width direction, the user can recognize the reliability in the vehicle width direction related to the recognition of the position of the preceding vehicle.

[0119] In addition, in the second embodiment, as the reliability in the vehicle width direction related to the recognition of the position of the preceding vehicle obtained becomes lower, the display control unit 72 increases the ratio of the light-colored part with a light color in the identification 100 along the vehicle width direction. Thereby, the user can intuitively recognize the reliability in the vehicle width direction related to the recognition of the position of the preceding vehicle.

[0120] (Third Embodiment)

[0121] Next, a third embodiment of the present disclosure will be described. In addition, since this third embodiment has the same structure as the first embodiment, the same reference numerals are assigned to each part, and the description of the structure is omitted. Refer to Figure 13 and the display control process related to the third embodiment will be described.

[0122] In the display control process related to the third embodiment, similar to the first embodiment, when it is determined that the AR display condition is satisfied (when the determination in step 200 is affirmative), the distance to the preceding vehicle and the relative position in the vehicle width direction are obtained from the camera unit 24 (step 202). In addition, the identification 100 at the reference position is created (step 208), and the identification 100 is enlarged or reduced according to the distance difference between the distance to the preceding vehicle and the reference distance (step 214).

[0123] Through the above processing, the image of the identifier 100 is reduced as the distance between the host vehicle and the preceding vehicle increases, and is displayed on the display area 74 of the AR-HUD 56. As a result, the following situation may occur, that is, as the distance between the host vehicle and the preceding vehicle increases, the interval between the partial images 102 of the identifier 100 becomes smaller and becomes below the resolution of the human eye (for example, approximately 1 / 60 deg). In this case, as shown by the label “In the case of long-distance display, the gap between partial images cannot be recognized, gap size < eye resolution (1 / 60 deg)” in Figure 14C In the identification of the identifier by the user, the entire identifier 100 is likely to be recognized as a single image.

[0124] Therefore, in the next step 216, the display control unit 72 determines whether the interval between the partial images 102 of the identifier 100 that have been enlarged or reduced in step 214 is greater than the resolution of the human eye (for example, approximately 1 / 60 deg). Here, when the distance between the host vehicle and the preceding vehicle is small, the determination in step 216 is affirmative and the process proceeds to step 220. Therefore, in this case, the identifier 100 enlarged or reduced in step 214 is displayed as it is at the position corresponding to the image 90 of the preceding vehicle (also refer to Figure 14A the identifier 100 shown by the label of close-range display in

[0125] On the other hand, when the distance between the host vehicle and the preceding vehicle is large, the determination in step 216 is negative and the process proceeds to step 218. In step 218, the display control unit 72 adjusts the number and interval of the partial images 102 so that the width of the partial images 102 is fixed and the interval between the partial images 102 is greater than the resolution of the human eye. As a result, as shown by the label “Even in the case of long-distance display, the gap between partial images can be recognized by expanding the interval of the identifier and reducing the number of partial images, gap size > eye resolution (1 / 60 deg)” in Figure 14C the interval between the partial images 102 of the identifier 100 is made greater than the resolution of the human eye.

[0126] In addition, through the processing in step 218, the number of the partial images 102 decreases step by step as the distance between the host vehicle and the preceding vehicle increases, and the interval between the partial images 102 increases step by step as the distance between the host vehicle and the preceding vehicle increases (also refer to Figure 14B ). However, the following method may also be adopted, that is, the number and interval of the partial images 102 change continuously as the distance between the host vehicle and the preceding vehicle increases.

[0127] When the process of step 218 is performed, the process proceeds to step 220. Thus, in this case, the identifier 100 enlarged or reduced in step 214 is displayed at a position corresponding to the image 90 of the preceding vehicle in a state where the partial image 102 is thinned out (see also Figure 14A the identifier 100 marked as being displayed at a long distance and shown therein). Thereby, in the identifier recognition performed by the user, the entire identifier 100 is no longer easily recognized as a single image, and it is possible to suppress a situation where the position shift of the identifier 100 with respect to the preceding vehicle is clearly detected even when the distance between the host vehicle and the preceding vehicle is large.

[0128] In this way, in the third embodiment, the display control unit 72 reduces the image of the identifier 100 as the distance between the host vehicle and the preceding vehicle increases and displays it on the display area 74 of the AR-HUD 56, and adjusts the interval in the vehicle width direction of the partial images 102 and the number of the partial images 102 so that the interval in the vehicle width direction of the partial images 102 in the reduced image of the identifier 100 is greater than the resolution of the eyes. Thereby, it is possible to suppress a situation where the entire identifier 100 is recognized as a single image, and it is possible to suppress a situation where the position shift of the identifier with respect to the preceding vehicle is clearly detected even when the distance between the host vehicle and the preceding vehicle is large.

[0129] In addition, in the above-described embodiment, the manner in which the positions in the vehicle vertical direction of the edges 108 and 110 in the plurality of partial images 102 constituting the identifier 100 are linearly aligned has been described (see Figure 4 ). However, the identifier according to the present disclosure is not limited to the case where a plurality of partial images 102 are arranged as described above. For example, as in Figure 15 the identifier 120 shown, a plurality of partial images 102 may be arranged in such a manner that the positions in the vehicle vertical direction of the edges 108 and 110 in the plurality of partial images 102 periodically change in the vehicle vertical direction.

[0130] Furthermore, in the above-described embodiment, the manner in which the edges 104 and 106 in each of the partial images 102 constituting the identifier 100 are linear has been described. However, the identifier in the present disclosure is not limited to the case where the edges of each partial image are linear. For example, as in Figure 16 the identifier 122 shown, the edges 104 and 106 in each of the partial images 102 constituting the identifier 122 are curved.

[0131] In addition, in the above-described embodiment, the shape of each partial image 102 constituting the identifier 100 is such that the upper ends in the vehicle up-down direction of the sides 104 and 106 are connected by a side 108 parallel to the vehicle width direction, and the lower ends in the vehicle up-down direction of the sides 104 and 106 are connected by a side 110 parallel to the vehicle up-down direction has been described (see Figure 4 ). However, the identifier related to the present disclosure is not limited to the case where each partial image has the above-described shape. For example, as in the identifier 124 shown in Figure 17 , the upper ends in the vehicle up-down direction of the partial images 102 of the sides 104 and 106 may be connected by a side 126 parallel to the vehicle up-down direction, and the lower ends in the vehicle up-down direction of the sides 104 and 106 may be connected by a side 128 parallel to the vehicle width direction.

[0132] Moreover, taking the identifier 130 shown in Figure 18 as an example, the partial images 102 may also be shaped such that the upper ends in the vehicle up-down direction of the sides 104 and 106 are connected by an arc-shaped side 132, and the lower ends in the vehicle up-down direction of the sides 104 and 106 are connected by an arc-shaped side 134.

[0133] In addition, the above-described identifiers 120, 122, 124, and 130 are an example of "an identifier composed of a plurality of partial images arranged at intervals in the vehicle width direction and the sides of the partial images along the long side direction are not parallel to the vehicle up-down direction".

[0134] In addition, in the above-described embodiment, the manner in which the identifier 100 is formed by arranging a plurality of partial images 102 at intervals has been described, but the identifier related to the present disclosure is not limited to the case of being composed of a plurality of partial images. For example, as in the identifier 136 shown in Figure 19 , it may be composed of a single parallelogram-shaped identifier in which a plurality of partial images 102 are integrated. In addition, the identifier 136 is an example of "an identifier having a polygon shape with a short side, the short side being located on the end side in the vehicle width direction and not parallel to the vehicle up-down direction".

[0135] In addition, in the above-described embodiment, the manner in which each partial image 102 constituting the identifier 100 is made to be substantially rod-shaped has been described, but the identifier related to the present disclosure may, for example, also be structured as in the identifier 138 shown in Figure 20 and Figure 21 where the partial images 102 are arranged at a predetermined interval in a structure in which they are rotated 90° clockwise in a substantially V shape. In the identifier 138, for example, at the left end in the vehicle width direction of the identifier 138, Figure 20The edges within the three ranges indicated by symbols 140, 142, and 144 are respectively interpreted as reference points in the identification recognition performed by the user. However, for the identification 138, due to its positional relationship, especially the edge within range 142 is interpreted as a reference point more strongly than the edges within the other ranges 140 and 144. Therefore, compared with the identification 100 etc., the effect of suppressing the situation where the positional shift of the identification 138 relative to the image 90 of the preceding vehicle is significantly detected by the user becomes lower. However, the identification related to the present disclosure makes Figure 20 the indicated identification 138 also included within the scope of rights.

[0136] In addition, in the above-described embodiment, the manner in which the identification 100 is asymmetric in the vehicle width direction has been described. However, the identification related to the present disclosure can also be, for example, as Figure 22 and Figure 23 shown in the identification 146, in which the partial image 148A and the partial image 148B are arranged symmetrically with respect to the central portion in the vehicle width direction. The partial image 148A is substantially rod-shaped and inclined clockwise by about 45° with respect to the straight direction, and the partial image 148B is substantially rod-shaped and inclined counterclockwise by about 45° with respect to the straight direction.

[0137] In addition, for example, it can also be as Figure 24 shown in the identification 150, which has a structure in which the partial image 148A and the partial image 148B are arranged alternately along the vehicle width direction. Since Figures 22 - 24 the shown identifications 146 and 150 are symmetric in the vehicle width direction, the central portion in the vehicle width direction of the identifications 146 and 150 is easily interpreted as a reference point in the identification recognition performed by the user. Therefore, compared with the identification 100 etc., the effect of suppressing the situation where the positional shift in the vehicle width direction of the identifications 146 and 150 relative to the image 90 of the preceding vehicle is significantly detected by the user becomes lower. However, the identification related to the present disclosure also makes Figures 22 - 24 the shown identifications 146 and 150 included within the scope of rights.

[0138] In addition, the above-mentioned identifications 138, 146, and 150 are also an example of "an identification composed of a plurality of partial images arranged at intervals in the vehicle width direction and the edges of the partial images along the long side direction are not parallel to the vehicle up-down direction".

[0139] Moreover, in the above-described embodiment, the case where the object in the present disclosure is a preceding vehicle has been described. However, the object related to the present disclosure can also be an object other than the preceding vehicle, such as a pedestrian etc.

[0140] In addition, in the above-described embodiments, a method has been described in which the identifier 100 or the like is displayed at a position corresponding to an object included in the foreground of the vehicle visually confirmed through the display area 74 of the AR-HUD 56. However, the present disclosure is not limited thereto. For example, the AR-HUD 56 may be configured to display an image simulating the foreground of the own vehicle on the display area 74 of the AR-HUD 56, and the identifier 100 or the like may be displayed at a position corresponding to an object included in the image simulating the foreground of the own vehicle. Further, in the above-described embodiments, a method in which the AR-HUD 56 is applied as an example of a display instrument in the present disclosure has been described. However, the present disclosure is not limited thereto, and the display instrument in the present disclosure may also be the meter display 68.

[0141] In addition, in the above, a method has been described in which a display control program 54, which is an example of a display control program related to the present disclosure, is pre-stored (installed) in the storage unit 48. However, the display control program related to the present disclosure can also be provided in a manner recorded on a non-temporary recording medium such as an HDD, an SSD, or a DVD.

[0142] Regarding the above embodiments, the following supplementary notes are further disclosed.

[0143] (Supplementary Note 1)

[0144] A display control device, comprising a display control unit that causes an identifier composed of a plurality of partial images arranged at intervals in the vehicle width direction and having a side along the long side direction not parallel to the vehicle up-down direction to be displayed at a position in the display area of a display instrument, the position being a position corresponding to an object included in the foreground of the vehicle visually confirmed through the display area of the display instrument, or a position corresponding to an object included in an image simulating the foreground of the vehicle to be displayed on the display area of the display instrument.

[0145] (Supplementary Note 2)

[0146] A display control device, comprising a display control unit that causes an identifier having a polygonal shape with a short side and having the short side located on the end side in the vehicle width direction and not parallel to the vehicle up-down direction to be displayed at a position in the display area of a display instrument, the position being a position corresponding to an object included in the foreground of the vehicle visually confirmed through the display area of the display instrument, or a position corresponding to an object included in an image simulating the foreground of the vehicle to be displayed on the display area of the display instrument.

[0147] (Supplementary Note 3)

[0148] The display control device according to Note 1, wherein the partial images are arranged at equal intervals in the vehicle width direction.

[0149] (Note 4)

[0150] The display control device according to Note 1 or Note 3, wherein the partial image has a shape in which one of the upper end and the lower end in the vehicle vertical direction is parallel to the vehicle width direction and the other is parallel to the vehicle vertical direction.

[0151] (Note 5)

[0152] The display control device according to any one of Notes 1 to 4, wherein the mark is asymmetric left and right in the vehicle width direction.

[0153] (Note 6)

[0154] The display control device according to any one of Notes 1 to 5, wherein the display control unit obtains a reliability related to the identification of the position of the object, and changes the display mode of the mark based on the obtained reliability.

[0155] (Note 7)

[0156] The display control device according to Note 6, wherein the display control unit obtains a reliability in the vehicle vertical direction related to the identification of the position of the object, and based on the obtained reliability in the vehicle vertical direction, changes the width of the mark in the vehicle vertical direction as a change in the display mode of the mark.

[0157] (Note 8)

[0158] The display control device according to Note 7, wherein as the obtained reliability in the vehicle vertical direction becomes lower, the display control unit increases the width of the mark in the vehicle vertical direction.

[0159] (Note 9)

[0160] The display control device according to Note 6, wherein the display control unit obtains a reliability in the vehicle width direction related to the identification of the position of the object, and based on the obtained reliability in the vehicle width direction, changes the lightness and darkness of the color of the mark in the vehicle width direction as a change in the display mode of the mark.

[0161] (Note 10)

[0162] The display control device according to Note 9, wherein as the obtained reliability in the vehicle width direction becomes lower, the display control unit increases the ratio of the light-colored part with a light color in the mark along the vehicle width direction.

[0163] (Supplementary Note 11)

[0164] The display control device according to any one of Supplementary Note 1, Supplementary Note 3 to Supplementary Note 10, wherein the display control unit causes the image of the identification to be reduced as the distance between the vehicle and the object increases and to be displayed in the display area of the display instrument, and adjusts the interval in the vehicle width direction of the partial images and the number of the partial images so that the interval in the vehicle width direction of the partial images in the reduced image of the identification is greater than the resolution of the eyes.

[0165] (Supplementary Note 12)

[0166] The display control device according to any one of Supplementary Note 1 to Supplementary Note 11, wherein the display instrument is a head-up display.

[0167] (Supplementary Note 13)

[0168] A display control method, which executes the following processing by a computer, the processing including: causing an identification composed of a plurality of partial images arranged at intervals in the vehicle width direction and having sides along the long side direction not parallel to the vehicle up-and-down direction to be displayed at a position in the display area of the display instrument corresponding to an object included in the foreground of the vehicle visually confirmed through the display area of the display instrument, or corresponding to an object included in an image simulating the foreground of the vehicle to be displayed on the display area of the display instrument.

[0169] (Supplementary Note 14)

[0170] A display control method, which executes the following processing by a computer, the processing including: causing an identification having a polygon shape with a short side and having the short side located on the end side in the vehicle width direction and not parallel to the vehicle up-and-down direction to be displayed at a position in the display area of the display instrument corresponding to an object included in the foreground of the vehicle visually confirmed through the display area of the display instrument, or corresponding to an object included in an image simulating the foreground of the vehicle to be displayed on the display area of the display instrument.

[0171] (Supplementary Note 15)

[0172] The display control method according to Supplementary Note 13, wherein the partial images are arranged at equal intervals in the vehicle width direction.

[0173] (Supplementary Note 16)

[0174] The display control method according to Note 13 or Note 15, wherein the partial image has a shape in which one of the upper and lower ends in the vehicle vertical direction is parallel to the vehicle width direction and the other is parallel to the vehicle vertical direction.

[0175] (Note 17)

[0176] The display control method according to Note 13 or Note 14, wherein the identifier is asymmetric left and right in the vehicle width direction.

[0177] (Note 18)

[0178] The display control method according to Note 13 or Note 14, wherein the display control unit obtains a reliability related to the recognition of the position of the object, and changes the display mode of the identifier based on the obtained reliability.

[0179] (Note 19)

[0180] The display control method according to Note 18, wherein the display control unit obtains a reliability in the vehicle vertical direction related to the recognition of the position of the object, and based on the obtained reliability in the vehicle vertical direction, changes the vehicle vertical direction width of the identifier as a change in the display mode of the identifier.

[0181] (Note 20)

[0182] The display control method according to Note 19, wherein as the obtained reliability in the vehicle vertical direction becomes lower, the display control unit increases the vehicle vertical direction width of the identifier.

[0183] (Note 21)

[0184] The display control method according to Note 18, wherein the display control unit obtains a reliability in the vehicle width direction related to the recognition of the position of the object, and based on the obtained reliability in the vehicle width direction, changes the light and dark of the color of the identifier in the vehicle width direction as a change in the display mode of the identifier.

[0185] (Note 22)

[0186] The display control method according to Note 21, wherein as the obtained reliability in the vehicle width direction becomes lower, the display control unit increases the ratio of the light-colored part with a light color in the identifier along the vehicle width direction.

[0187] (Note 23)

[0188] The display control method according to any one of Supplementary Notes 13, 15 to 22, wherein the display control unit shrinks the image of the identifier as the distance between the vehicle and the object increases and displays it on the display area of the display instrument, and adjusts the interval in the vehicle width direction of the partial images and the number of the partial images so that the interval in the vehicle width direction of the partial images in the shrunk image of the identifier is greater than the resolution of the eyes.

[0189] (Supplementary Note 24)

[0190] The display control method according to any one of Supplementary Notes 13 to 23, wherein the display instrument is a head-up display.

[0191] (Supplementary Note 25)

[0192] A display control program for causing a computer to execute the following processing, the processing including: displaying an identifier composed of a plurality of partial images arranged at intervals in the vehicle width direction and having sides along the long side direction not parallel to the vehicle up-down direction at a position in the display area of the display instrument corresponding to an object included in the foreground of the vehicle visually confirmed through the display area of the display instrument, or at a position corresponding to an object included in an image simulating the foreground of the vehicle to be displayed on the display area of the display instrument.

[0193] (Supplementary Note 26)

[0194] A display control program for causing a computer to execute the following processing, the processing including: displaying an identifier in the shape of a polygon having a short side and the short side located on the end side in the vehicle width direction and not parallel to the vehicle up-down direction at a position in the display area of the display instrument corresponding to an object included in the foreground of the vehicle visually confirmed through the display area of the display instrument, or at a position corresponding to an object included in an image simulating the foreground of the vehicle to be displayed on the display area of the display instrument.

[0195] (Supplementary Note 27)

[0196] The display control program according to Supplementary Note 25, wherein the partial images are arranged at equal intervals in the vehicle width direction.

[0197] (Supplementary Note 28)

[0198] The display control program according to Supplementary Note 25 or 27, wherein the partial images are in a shape in which one of the upper end portion and the lower end portion in the vehicle up-down direction is parallel to the vehicle width direction and the other is parallel to the vehicle up-down direction.

[0199] (Supplementary Note 29)

[0200] A display control program as described in Supplementary Note 25 or Supplementary Note 26, wherein the identifier is asymmetric left and right in the vehicle width direction.

[0201] (Supplementary Note 30)

[0202] A display control program as described in Supplementary Note 25 or Supplementary Note 26, wherein the display control unit obtains a reliability related to the identification of the position of the object, and changes the display mode of the identifier based on the obtained reliability.

[0203] (Supplementary Note 31)

[0204] A display control program as described in Supplementary Note 30, wherein the display control unit obtains a reliability in the vehicle up - down direction related to the identification of the position of the object, and changes the width of the identifier in the vehicle up - down direction as a change in the display mode of the identifier based on the obtained reliability in the vehicle up - down direction.

[0205] (Supplementary Note 32)

[0206] A display control program as described in Supplementary Note 31, wherein as the obtained reliability in the vehicle up - down direction becomes lower, the display control unit increases the width of the identifier in the vehicle up - down direction.

[0207] (Supplementary Note 33)

[0208] A display control program as described in Supplementary Note 30, wherein the display control unit obtains a reliability in the vehicle width direction related to the identification of the position of the object, and changes the lightness or darkness of the color of the identifier in the vehicle width direction as a change in the display mode of the identifier based on the obtained reliability in the vehicle width direction.

[0209] (Supplementary Note 34)

[0210] A display control program as described in Supplementary Note 33, wherein as the obtained reliability in the vehicle width direction becomes lower, the display control unit increases the ratio of the light - colored part with a lighter color in the identifier along the vehicle width direction.

[0211] (Supplementary Note 35)

[0212] The display control program according to any one of Supplementary Notes 25, 27 to 34, wherein the display control unit causes the image of the identifier to be reduced as the distance between the vehicle and the object increases and to be displayed on the display area of the display device, and adjusts the interval in the vehicle width direction of the partial images and the number of the partial images so that the interval in the vehicle width direction of the partial images in the reduced image of the identifier is greater than the resolution of the eyes.

[0213] (Supplementary Note 36)

[0214] The display control program according to any one of Supplementary Notes 25 to 35, wherein the display device is a head-up display.

Claims

1. A display control device, wherein: A display control unit is included, which causes a mark composed of a plurality of partial images arranged at intervals in the vehicle width direction and wherein the sides of the partial images along the long side direction are not parallel to the vehicle up-down direction to be displayed at the following position, wherein the position is a position in the display area of ​​the display instrument corresponding to an object included in the foreground of the vehicle visually confirmed through the display area of ​​the display instrument, or a position corresponding to an object included in an image simulating the foreground of the vehicle to be displayed on the display area of ​​the display instrument.

2. A display control device, wherein: A display control unit is included, which displays a mark having a polygonal shape with short sides, wherein the short sides are located on the end sides in the vehicle width direction and are not parallel to the vehicle up-down direction, at the following position, wherein the position is a position corresponding to an object included in the foreground of the vehicle visually confirmed through the display area of ​​the display instrument, or a position corresponding to an object included in an image simulating the foreground of the vehicle to be displayed on the display area of ​​the display instrument.

3. The display control device according to claim 1, wherein: The partial images are arranged at equal intervals in the vehicle width direction.

4. The display control device according to claim 1, wherein: The partial image has a shape in which one of an upper end portion and a lower end portion in the vehicle vertical direction is parallel to the vehicle width direction and the other is parallel to the vehicle vertical direction.

5. The display control device according to claim 1 or claim 2, wherein: The mark is asymmetrical in the width direction of the vehicle.

6. The display control device according to claim 1 or claim 2, wherein: The display control unit obtains reliability related to recognition of the position of the object, and changes a display form of the marker based on the obtained reliability.

7. The display control device according to claim 6, wherein: The display control unit obtains reliability in the vehicle vertical direction related to recognition of the position of the object, and changes the width of the marker in the vehicle vertical direction as a change in the display mode of the marker based on the obtained reliability in the vehicle vertical direction.

8. The display control device according to claim 7, wherein: The display control unit increases the width of the marker in the vehicle vertical direction as the reliability of the acquired vehicle vertical direction becomes lower.

9. The display control device according to claim 6, wherein: The display control unit obtains reliability in the vehicle width direction related to recognition of the position of the object, and changes the depth of the color of the marker in the vehicle width direction as a change in the display mode of the marker based on the obtained reliability in the vehicle width direction.

10. The display control device according to claim 9, wherein: The display control unit increases the ratio of the light-colored portion of the marker along the vehicle width direction as the obtained reliability in the vehicle width direction becomes lower.

11. The display control device according to claim 1, wherein: The display control unit causes the image of the logo to be reduced in size as the distance between the vehicle and the object increases and displays the image on the display area of ​​the display instrument, and adjusts the spacing of the partial images along the width direction of the vehicle and the number of the partial images so that the spacing of the partial images in the reduced image of the logo along the width direction of the vehicle is greater than the resolution of the eye.

12. The display control device according to claim 1 or claim 2, wherein: The display instrument is a head-up display.

13. A display control method, wherein the method executes the following processing by a computer, the processing comprising: A marker composed of a plurality of partial images arranged at intervals in the vehicle width direction and having sides along the longitudinal direction of the partial images that are not parallel to the vehicle up-down direction is displayed at a position corresponding to an object included in the foreground of the vehicle visually confirmed through the display area of ​​the display instrument, or a position corresponding to an object included in an image simulating the foreground of the vehicle to be displayed on the display area of ​​the display instrument.

14. A display control method, wherein the method executes the following processing by a computer, the processing comprising: A mark having a polygonal shape with short sides, the short sides being located on the end sides in the vehicle width direction and not parallel to the vehicle up-down direction, is displayed at a position corresponding to an object included in the foreground of the vehicle visually confirmed through the display area of ​​the display instrument, or a position corresponding to an object included in an image simulating the foreground of the vehicle to be displayed in the display area of ​​the display instrument.

15. A program product comprising a program for causing a computer to execute display control, wherein: The display control comprises: A marker composed of a plurality of partial images arranged at intervals in the vehicle width direction and having sides along the longitudinal direction of the partial images that are not parallel to the vehicle up-down direction is displayed at a position corresponding to an object included in the foreground of the vehicle visually confirmed through the display area of ​​the display instrument, or a position corresponding to an object included in an image simulating the foreground of the vehicle to be displayed on the display area of ​​the display instrument.

16. A program product comprising a program for causing a computer to execute display control, wherein: The display control comprises: A mark having a polygonal shape with short sides, the short sides being located on the end sides in the vehicle width direction and not parallel to the vehicle up-down direction, is displayed at a position corresponding to an object included in the foreground of the vehicle visually confirmed through the display area of ​​the display instrument, or a position corresponding to an object included in an image simulating the foreground of the vehicle to be displayed in the display area of ​​the display instrument.

Images