Display system and program

Abstract

Display system for showing an AR (augmented reality) route which is a virtual image (VB) so that it is superimposed on a real image seen by a user, wherein the display system comprises: an AR path generator (111) that creates the AR path; and a display device that represents the AR journey path as a virtual image (VIA), wherein the AR path generator (111) determines whether a path segment is a straight segment or not, based on the positional relationship of nodes (N1, N2, N3, N4, N5) in the path segment containing three or more nodes (N1, N2, N3, N4, N5), the AR path generator (111) for the path segment which is defined as the straight segment, creates a straight line (L0, L1, L2) for the AR path which connects a start node (N1) of the path segment with an end node (N5) of the same, The AR route generator (111) determines whether the route segment to be determined is a straight segment or not, based on a distance between a straight line (L0) connecting a segment start node (N1) with a segment end node (N5) in the route segment to be determined as to whether the route segment is a straight segment or not, and another node (N2, N3, N4) contained in the route segment to be determined. the AR route generator (111) divides the route segment to be determined at a node (N3) as a splitting point where the distance is greatest, in a case where a node (N3) for which a distance to the straight line (L0) is greater than a specified threshold is present among the nodes (N2, N3, N4) contained in the route segment to be determined.

Description

Technical field

[0001] The present disclosure relates to a display device and a program and relates to a display system, to be used, for example, as a vehicle on-board display system, and also to a program to be used for this purpose. State of the art

[0002] A head-up display (hereinafter referred to as HUD) is a known display device. The HUD can realize so-called AR (augmented reality) by projecting an image onto a translucent display medium and presenting this image to a user in such a way that it is superimposed on an object that can be seen through the display medium.

[0003] A vehicle on-board HUD includes a display device of a type that presents a driver with driving-assistance information or the like as a virtual image superimposed on an actual scene in front of a windshield. This type of display device is disclosed, for example, in patent specifications 1, 2, or the like.

[0004] The vehicle's on-board HUD includes a HUD that displays an AR driving path as a virtual image. The representation of an AR driving path is disclosed, for example, in patent specification 3 or similar documents. The AR driving path is a direction in which a driver should travel, displayed as a band on a road.

[0005] Patent 4 describes a generalization of features in a digital map by simplifying the polylines. Patent 5 describes a vehicle navigation system comprising a computer, a memory, a display device, and a loudspeaker, wherein the computer determines four consecutive road coordinate points from the memory, representing a road or lane profile. It calculates interpolated coordinate points using a B-spline function based on the determined coordinate points and calculates the radii of curvature of the interpolated coordinate points. It then recognizes road curves and their directions based on the calculated radii of curvature. The recognized curves are displayed on a road map shown on a display device and / or by means of a loudspeaker.Patent specification 6 describes a road map information reading device comprising: a road map information recording medium in which roads contained in all or part of areas on a road map are pre-classified into a plurality of groups in accordance with the type of roads, different recording formats are assigned to each plurality of groups in accordance with the type of roads, and connection information of the roads contained in each of the groups is recorded in accordance with the format assigned to the group; a reading area designator for designating a predetermined reading area, a reading control device for reading the connection information from the road map information recording medium in accordance with the predetermined reading area; and an output device for outputting the connection information read by the reading control device. Bibliography Patent literature Patent specification 1 Japanese patent application disclosure JP H7 - 257 228 A Patent specification 2 Japanese patent application disclosure JP 2018 - 45 103 A Patent specification 3 Japanese patent application disclosure JP 2018 - 140 714 A Patent specification 4 US 2007 / 0024 624 A1 Patent specification 5 DE 100 22 528 A1 Patent specification 6 DE 697 32 546 T2 Summary of the invention; Technical task

[0006] In practice, an AR route (augmented reality route) is created using map information from a navigation system. More precisely, the navigation system first searches for a route to a destination and selects coordinates (nodes, edges) corresponding to the route from among the coordinates (nodes, edges) contained in the map information. Then, a display device generates an AR route based on information about the selected nodes and edges and projects the generated AR route as a virtual image onto a windshield.

[0007] Here, the coordinates of the nodes and edges refer to coordinates of feature points, such as intersection coordinates, and form interpolating coordinates—in other words, discontinuous coordinates. Because the AR route is formed in this way using discontinuous coordinates, problems arise, such as (1) a route being a straight road appearing kinked in the route display, (2) a curved route appearing as a polygon in the route display, or similar issues.

[0008] For example, while a navigation screen displaying a route on a dedicated small monitor is less likely to evoke a sense of strangeness in a driver, because the AR route is displayed within the driver's field of vision, an unnaturally kinked route or similar feature is more likely to evoke a sense of inconsistency. That is to say, if the AR route does not correspond to the shape of a route a subject vehicle is supposed to follow, the driver will experience a strong sense of strangeness.

[0009] The present disclosure was created in light of the points described above and creates a display system that can represent an AR route that corresponds to a shape of route on which the subject vehicle is intended to travel, without arousing any sense of strangeness. Solution to the task

[0010] A display system according to one aspect of the present disclosure is a display system according to claim 1.

[0011] One aspect of a program of the present disclosure causes a computer to perform a processing operation comprising: Determining whether a track segment is a straight segment or not, based on the positional relationship of nodes in the track segment containing three or more nodes, and for the track segment which is defined as the straight segment, forming a straight line as the AR track which connects a start node of the track segment with an end node of the same. Advantageous effects of the invention

[0012] According to the present disclosure, it is possible to represent an AR route that corresponds to the shape of a route on which the subject vehicle is intended to travel, without arousing any sense of strangeness. Brief description of the drawing Fig. Figure 1 represents an example in which a display device according to one embodiment is mounted in a vehicle. Fig. Figure 2 represents an example of an area in which light is projected through the display device in the embodiment. Fig. Figure 3 shows an example where a virtual image is displayed in such a way that it is overlaid in the foreground. Fig. Figure 4 is a block diagram that shows an example of the construction of a display device. Fig. Sections 5A to 5C explain the AR path formation in the embodiment. Fig. Figure 6 shows an example of an AR path in a case where the line correction processing of the embodiment is not applied. Fig. Figure 7 shows a display example of an AR path in a case where the line correction processing of the embodiment is applied. Fig. Figure 8 shows a flowchart of the process of line correction processing of the AR path in the embodiment. Fig. Figure 9 represents an example of curve interpolation in the embodiment. Fig. Figure 10 presents a display example of an AR journey path in a case where the curve interpolation processing of the embodiment is not applied. Fig. Figure 11 presents a display example of an AR journey path in a case where the curve interpolation processing of the embodiment is applied. Fig. 12A and Fig. 12B explain the display of the AR route, which is carried out conventionally; Fig. 12A represents node positions, and Fig. 12B represents the AR route. Fig. 13A and Fig. 13B explains the display of an AR journey path in the embodiment; Fig. 13A represents a relocation of the node positions, and Fig. 13B represents the offset AR path. Fig. 14A provides an example where the AR path is not offset, and Fig. Figure 14B provides an example in which the AR path offset processing of the present embodiment is applied. Description of the embodiment

[0013] An embodiment of the present invention is described below with reference to the accompanying drawing. <1> Schematic arrangement of the display device

[0014] Fig. Figure 1 represents an example in which a display device 100 according to an embodiment of the present disclosure is mounted in a vehicle 200.

[0015] The display device 100 in the present embodiment is implemented as a vehicle-mounted head-up display (HUD). The display device 100 is mounted near the top of the dashboard 220 of the vehicle 200.

[0016] The display device 100 projects light onto an area D10 in a driver's field of vision, indicated by a dashed line, on the windshield (the so-called front windshield) 210. While part of the projected light passes through the windshield 210, the other part is reflected by the windshield 210. This reflected light reaches the driver's eyes. The driver perceives the reflected light that has entered their eyes as a virtual image VB, which looks like an image of an object located on the opposite side (outside the vehicle 200) of the windshield 210, against a background of a real object seen through the windshield 210.

[0017] Fig. Figure 2 represents an example of a region D10, which is a region into which light is projected by the display device 100 in the embodiment.

[0018] Area D10 is located on a lower part on the driver's side of the windshield 210, as for example in Fig. 2 is shown as an area enclosed by a dashed line. The display device 100, mounted on the dashboard 220, projects an image onto the windscreen 210 by projecting light onto the area D10, as shown in Fig. 1 is shown. This creates the virtual image VB, which looks to the driver like an image of an object located outside the vehicle 200.

[0019] It should be noted that an image projected onto the windshield 210 can be perceived by the driver in the virtual image VB as if it were located at different distances, depending on vertical positions in the area D10. For example, in the examples in Fig. 1 and Fig. 2. Because area D10 is located at a lower point than the driver's eye level, an image located at a lower point in area D10 is perceived as if it were an object closer to the driver in the virtual image VB, while an image located at a higher point in the image projected onto area D10 can be perceived as if it were an object farther away from the driver in the virtual image VB. One principle of such perception is described by a kind of geometric perspective (vertical perspective).

[0020] Fig. Figure 3 provides an example of a virtual image generated by the display device 100 in the present embodiment and an example in which this virtual image is superimposed on the scene in front of the vehicle 200, as seen by the driver of the vehicle 200, which is driving.

[0021] Fig. Figure 3 schematically depicts a portion of the scene within the field of vision of a driver (not shown) operating the vehicle 200 as a whole. It should be noted that a frame indicated by a dashed line, specifying an area D10 into which an image from the display device 100 is projected, is shown for illustrative purposes only and is neither present nor perceived by the driver. Reference 200 indicates a hood that is part of the vehicle 200. Furthermore, an arrow diagram with reference V10 indicates an AR (augmented reality) driving path, which is an example of a virtual image generated by the display device 100 and perceived by the driver.

[0022] As in Fig. As shown in Figure 3, the AR route V10, which is a virtual image, is displayed superimposed on the scenery actually visible to the driver. In practice, the AR route V10 is displayed as superimposed on a road. This guides the driver to travel within a ribbon-like area defined by the AR route V10.

[0023] Fig. Figure 4 is a block diagram that shows an example of the construction of a display device 100.

[0024] The display device 100 includes a map information receiver 101, a position detector 102, a radar 103, a vehicle behavior detector 104, a viewpoint detector 105, an image generator 110, a display control 120 and a HUD 130.

[0025] The map information receiver 101 obtains map information containing information expressing terrain relief, road shapes, or the like with coordinates in an absolute coordinate system. The map information obtained by the map information receiver 101 can be information stored in a map information storage medium mounted in the vehicle 200, or it can be obtained through communication with external devices. In the present embodiment, the map information receiver 101, which is a so-called navigation system, obtains a route from a current location to a destination. The map information receiver 101 outputs the map information and the route information to the image generator 110.

[0026] The position detector 102, which is implemented by a GPS receiver, a gyroscope, a vehicle speed sensor or the like, detects a current location of the subject vehicle 200.

[0027] The radar 103 detects whether an object is present or not, and its distance, by emitting a radio wave or laser light into an area in front of the subject vehicle 200 and receiving the reflected wave. It should be noted that the display device 100 may, in addition to the radar 103, include other detection devices, such as a camera and an infrared sensor, to detect an object in a surrounding area.

[0028] The vehicle behavior detector 104, which is implemented by a gyroscope, a suspension stroke sensor, a vehicle height sensor, a vehicle speed sensor, an acceleration sensor or the like, detects a physical quantity that indicates a behavior of the vehicle.

[0029] A gaze detector captures an image of the driver's eyes, for example using an infrared camera, and uses image processing to measure the coordinates of the driver's eye positions within a vehicle coordinate system from the captured image. The acquisition result from the gaze detector 105 is output to the display control unit 120.

[0030] The image generator 110 creates an image that forms the basis of the virtual image VB, based on input signals from the map information receiver 101, the position detector 102, the radar 103, and the vehicle behavior detector 104. The image generator 110 includes an AR route generator 111. The AR route generator 111 creates an image that forms the basis of an AR route, which is a virtual image, based on input signals from the map information receiver 101 and the position detector 102.

[0031] The display control 120 presents the virtual image VB in the area D10 of the windshield based on the image created by the image creator 110 and the viewpoint information by controlling a light source, a sensor, a screen driver or the like, which form the HUD 130. <2> AR path creation

[0032] Before a characteristic AR route formation processing according to the present embodiment is described, a typical route creation using map information is described.

[0033] It should be noted that the functions of the AR path generator 111, described below, can be implemented by a CPU that copies a program stored in a memory device into RAM and sequentially reads the instructions contained in the program from RAM and executes them. In other words, the processing of the AR path generator 111, described below, can be implemented by a program.

[0034] The AR route generator 111 inputs road map data from the map information obtainer 101. In the road map data, a minimum unit representing a road segment is called an edge. That is, every road consists of a multitude of edges, which are defined for each given road segment. Points connecting the edges are called nodes, and each node has positional information (coordinate information). Additionally, points called shape interpolation points can be defined between nodes along an edge. Each shape interpolation point also has positional information (coordinate information), similar to the nodes. An edge shape, that is, the shape of a road, is determined by the positional information of the nodes and the shape interpolation points.

[0035] The node is an intersection, a junction, a fork, or the like, and the AR path generator 111 inputs coordinate information of the intersection, fork, fork, or the like as node information. Furthermore, the AR path generator 111 also inputs coordinate information of the shape interpolation points as described above.

[0036] Each edge consists of individual data such as an edge length, which specifies the length of the edge, shape information about the edge, coordinates (latitude, longitude) of a start node and an end node of the edge, a street name, a street type, a street width, a street attribute, a one-way attribute, the number of lanes, the presence or absence of a right-turn or left-turn lane, and the number of right-turn or left-turn lanes as attribute information about the edge.

[0037] Next, the AR path generation processing by the AR path generator 111 of the present embodiment is described. Information about the nodes and edges that specify the route of the subject vehicle as described above is input into the AR path generator 111. <2-1> Line correction

[0038] Fig. Sections 5A to 5C explain the AR path formation in the present embodiment. Fig. 5A to 5C represent nodes N1 to N5 in a track segment. Therefore, in a conventional AR track generation process, the AR track is generated that continuously connects N1, N2, N3, N4 and N5.

[0039] Meanwhile, in the AR path generation process of the present embodiment, it is first determined whether a segment from N1 to N5 is a straight segment or not. If the segment is determined to be straight, a straight line L0 connecting the start node N1 to the end node N5 is formed and displayed as the AR path. Conversely, if the segment is determined to be non-straight, a splitting or curve correction process is performed, as described below.

[0040] The processing is precisely described. In the AR path formation processing of the present embodiment, the following first occurs, as described in Fig. Figure 5A shows a straight line L0 that connects the section start node N1 with the section end node N5 in a track section, which is to be subjected to a determination as to whether the section is a straight section or not.

[0041] Then, distances h2, h3 and h4 between the straight line L0 and other nodes N2, N3 and N4 that are contained in the track section are calculated.

[0042] Next, the AR path generator 111 compares the distances h2, h3, and h4 with a predefined threshold. If the distances h2, h3, and h4 are all equal to or less than the threshold, the AR path generator 111 creates an AR path by connecting the segment between node N1 and node N5 with a straight line L0. Conversely, if any distance among h2, h3, and h4 is greater than the threshold, the AR path generator 111 splits a path segment at a node with the largest distance. In one of the examples in Fig. Because the distance h3 to node N3 is the greatest, the track section at node N3 is divided into 5A to 5C as a splitting point.

[0043] Then, as in Fig. Figure 5B shows the process of determining whether the section is a straight section or not, repeated in a similar manner to the one described above, using the split point as the endpoint and as the start point of the section. More precisely, the straight line L1, which connects the section start node N1 with the section end node N3, is formed in the path section. Similarly, the straight line L2, which connects the section start node N3 with the section end node N5, is formed in the path section. Then, the distance h2 between the straight line L1 and another node N2 contained in the path section is calculated. Similarly, the distance h4 between the straight line L2 and another node N4 contained in the path section is calculated. Then, the distance h2 is compared to the threshold. Similarly, the distance h4 is compared to the threshold. In one example in the drawing, because the distance h2 is smaller than the threshold, as shown in Fig. As shown in Figure 5C, an AR path is generated by connecting a section between node N1 and node N3 with a single straight line L1. Similarly, because the distance h4 is smaller than the threshold, as in Fig. Figure 5C shows an AR path created by connecting a section between node N3 and node N5 with a single straight line L2.

[0044] In short, the line correction processing in the present embodiment is a process for generating a straight line, excluding (ignoring) nodes that do not deviate significantly from a straight line connecting a start node to an end node of a segment. This makes it possible to prevent an AR path from being unnaturally kinked due to the way node coordinates are set. For example, it is possible to prevent the discomfort of an AR path being slightly kinked at each intersection due to the coordinate of the node being set at a coordinate of the intersection's center, even though the road is actually a straight road.

[0045] Fig. Figure 6 shows a display example of the AR path in a case where the line correction processing of the present embodiment is not applied. This drawing shows that the AR path is slightly kinked at the intersection, even though the road is a straight road. Fig. Figure 7 shows a display example of the AR path in a case where the line correction processing of the present embodiment is applied. This drawing shows that a kinked part of the AR path disappears at the intersection.

[0046] Fig. Figure 8 shows a flowchart of the line correction processing process of the AR path in the present embodiment.

[0047] The AR path generator 111 first calculates in step S1 the distance h between a straight line connecting the start node with the end node and another node contained in the section. That is, in this example, the AR path generator 111 calculates... Fig. 5A the distances h2, h3 and h4 between the straight line L0 connecting the section start node N1 with the section end node N5 and other nodes N2, N3 and N4 contained in the section.

[0048] In the subsequent step S2, the AR path generator 111 calculates whether all distances h2, h3, and h4 are equal to or less than a threshold value. If step S2 yields a positive result (step S2: Yes), the process proceeds to step S3, the segment is determined to be a straight segment, and an AR path is generated. In the example in Fig. 5A defines the straight line L0 as the AR travel path.

[0049] However, if a negative result is obtained in step S2 (step S2: No), the process continues to step S4, and the section is split at a node that is the greatest distance from it. That is, in the example in Fig. In step 5B, the track section at node N3 is split as a dividing point. After processing in step S4, the AR track generator 111 returns to step S1. The processing in step S1 corresponds to the calculation of distances h2 and h4 in the example in Fig. 5B.

[0050] In this way, the AR path generator 111 divides the section until there are no more nodes whose distance is equal to or greater than the threshold, by recursively repeating the processing steps S1-S2-S4-S1 until a positive result can be obtained in step S2. If no such node is found, the section is then defined as a straight section, and the processing in step S3 is carried out to form a straight AR path within the straight section. <2-2> Curve interpolation

[0051] The AR path generator 111 in the present embodiment performs a curve interpolation on the path section which is defined as a non-linear section.

[0052] For example, a curve interpolation as in Fig. Figure 9 is shown on a nonlinear section that is subjected to line correction (which may also be called line smoothing) as described in Section <2-1>. In the example in Fig. 9. Because the straight lines L1 and L2 are connected, bending at node N3, which is the split point, a section of N1-N3-N5 is not a straight section. In practice, in almost every case, the section of N1-N3-N5 is not a bend, but a curve. Given this, the AR path generator 111 forms the curve L10 by performing a curve interpolation on the section of N1-N3-N5 and outputs this curve L10 as the AR path.

[0053] The AR path generator 111 performs the curve interpolation using nodes as control points, which are contained in the section. In the example in Fig. 9 the curve L10 is formed by a curve interpolation, which is carried out using the nodes N1, N3 and N5 as control points.

[0054] Here, the nodes are not always arranged to form a distinct curve, and there is a case where a distorted curve shape results when curve interpolation is performed such that the curve passes through all nodes. Given this, in the present embodiment, a curve L10 without distortion is formed by interpolation performed using a B-spline curve. However, the curve interpolation is not limited to interpolation using a B-spline curve.

[0055] It should be noted that, while a case is described here in which curve interpolation is performed on a section that is not a straight section after the line correction has been carried out as described in section <2-1>, the present invention is not limited to this, and, in short, it is only necessary to perform the curve interpolation on the path section that is defined as a non-linear section using nodes contained in the section as control points and to output a curve as the AR path that has been subjected to curve interpolation.

[0056] Fig. Figure 10 shows a display example of the AR path in a case where the curve interpolation processing of the present embodiment is not applied. This drawing shows that the AR path becomes a polygon, even though an actual road is curved. Fig. Figure 11 shows a display example of the AR path in a case where the curve interpolation processing of the present embodiment is applied. This drawing shows that the AR path can be displayed with a curved shape along the curve. <2-3> Processing of an offset AR path based on lane information

[0057] As described above, the AR route is created based on the nodes and edges contained in the road map data. However, because the coordinate information contained in the nodes and edges is often the coordinates of road centers, there is a case where, when the AR route is formed using this information as is, an AR route is displayed that creates a sense of inconsistency. In particular, it is highly likely that an AR route that creates a sense of inconsistency will be displayed at a location such as an intersection and junction where a multitude of roads intersect.

[0058] In light of this, in the present embodiment, the AR path is formed by shifting a coordinate of the node contained in the road map data, based on the lane information, to a lane in which the subject vehicle is to travel. This makes it possible, based on the lane information, to display an AR path that does not create a sense of inconsistency, shifted to the side of the lane in which the subject vehicle is traveling. For comparison, because the AR path is formed by connecting nodes, shifting the coordinate of the node is equivalent to shifting the AR path. Therefore, in the following description, shifting the coordinate of the node can be read as shifting the AR path; conversely, shifting the AR path can be read as shifting the coordinate of the node.

[0059] Fig. 12A and Fig. 12B explains a conventional display of an AR route. As in Fig. Figure 12A illustrates a case in which the subject vehicle is traveling on a road with one lane in each direction and a center line, and turns right at an intersection ahead. The coordinates of nodes N1 to N4 are coordinates on the center line.

[0060] Fig. 12B represents the one based on nodes N1 to N4 in Fig. 12A represents the AR route formed and displayed. As shown Fig. As can be seen in Figure 12B, because in the conventional AR path the starting point is set to coincide with the subject vehicle's driving position, while an area in front of the subject vehicle is depicted without creating a sense of inconsistency, the AR path, after the subject vehicle has passed through an intersection, lies on a center line. That is, the AR path is offset in the direction of the center line from a lane in which the subject vehicle is actually supposed to drive.

[0061] Fig. 13A and Fig. Section 13B explains the display of the AR travel path in the present embodiment. In the present embodiment, as in Fig. As shown in 13A, the nodes N1', N2', N3' and N4' are calculated according to the coordinates of nodes N1, N2, N3 and N4 on the center line offset to the lane on which the subject vehicle is to travel, and an AR path is formed and displayed using the nodes N1', N2', N3' and N4'.

[0062] Fig. 13B represents the one based on the nodes N1', N2', N3' and N4' in Fig. 13A represents the AR route formed and displayed. As shown Fig. As can be seen in Figure 13B, in the present embodiment the AR path is displayed on the lane in which the subject vehicle is supposed to travel, even after the subject vehicle has passed through the intersection. As a result, it is possible to display the AR path without creating a sense of inconsistency.

[0063] A specific example of relocating the AR travel path according to the present embodiment is described here.

[0064] In a case where the road has three lanes in each direction, and the lane in which the subject vehicle is to travel is the far left lane, the node positions on the subject vehicle's lane are offset by one lane width (for example, 3.25 m) × (number of lanes (in this example, 3) - 0.5). This processing is designed to handle a situation where the nodes are placed on the center line.

[0065] In this way, during AR path offset processing according to the present embodiment, a node placed in the center of the road is shifted to the lane in which the subject vehicle is to travel. In the present embodiment, the AR path is shifted to the center of the lane in which the subject vehicle is to travel.

[0066] Then, according to the present embodiment, the effects of AR path offset processing using Fig. 14A and Fig. 14B described.

[0067] Fig. 14A and Fig. 14B represents the display of the AR route in a case where the subject vehicle is turning left at an intersection ahead. Fig. 14A provides an example where the AR path is not offset, and Fig. Figure 14B presents an example in which the AR path offset processing of the present embodiment is applied. While, as can be clearly seen by comparing these drawings, the AR path in Fig. If 14A is shown near the middle of the road, where the subject vehicle should not travel after passing through the intersection, the AR path is displayed in Fig. 14B is shown on the lane in which the subject vehicle is supposed to travel, even after the subject vehicle has passed through the intersection, without creating any sense of inconsistency.

[0068] By performing AR path offset processing according to the present embodiment, it is possible, even if the node position at the intersection is offset to the left or right relative to the extension of the road, to display the AR path along the lane on which the subject vehicle is supposed to travel without creating a sense of inconsistency. <3> Diploma

[0069] As described above, according to the present embodiment, as described in section <2-1>, it is determined whether the roadway segment is a straight segment or not based on the positional relationship of the nodes in the roadway segment containing three or more nodes, and a straight line connecting a starting node with an end node of the roadway segment is formed and represented as the AR roadway for the roadway segment determined to be a straight segment, so that it is possible to display the AR roadway that corresponds to the shape of the roadway on which the subject vehicle is to travel without creating a sense of inconsistency, while resolving the discomfort of the AR roadway appearing kinked even though the road is a straight road.

[0070] Furthermore, as described in section <2-2>, for the route segment defined as a non-linear segment, it is possible to display the AR route that matches the shape of the route on which the subject vehicle is to travel without creating a sense of inconsistency by forming the AR route with a shape that is subjected to curve interpolation using the nodes contained in the segment as control points.

[0071] In particular, even a slight difference in orientation between edges that appear to be straight roads when viewed from above looks like a large angle in a representation of the roadway, such as an AR roadway viewed at an angle. This problem can be effectively solved by performing line correction and curve interpolation as described above.

[0072] The embodiments described above are merely examples, and the technical scope of the present invention should not be interpreted as being limited by these embodiments. More precisely, various modifications to the form and details can be made without deviating from the inventive concept and scope of protection of the invention(s).

[0073] While the embodiment described above describes a case in which the display device of the present disclosure is applied to a vehicle on-board HUD, the present disclosure is not limited thereto, and the display device of the present disclosure can, in short, be generally applied to display systems and devices that represent the AR driving path, which is a virtual image, in such a way that it is superimposed on a real image that can be seen by the user. Commercial applicability

[0074] The display system and the program of the present invention are, for example, suitable for a system that includes a vehicle on-board HUD. List of reference symbols 100 Display device 101 map information providers 102 Position detector 103 Radar 104 Vehicle Behavior Detector 105 Viewpoint Detector 110 image creators 111 AR path shapers 120 Display control 130 HUD (Head-Up Display) 200 vehicles 210 Windscreen 220 Dashboard N1, N2, N3, N4, N5 nodes h2, h3, h4 distance L0, L1, L2 Straight L10 curve VB Virtual Image

Claims

[1] Display system for showing an AR (augmented reality) route which is a virtual image (VIA) so that it is superimposed on a real image seen by a user, wherein the display system comprises: an AR path generator (111) that creates the AR path; and a display device that represents the AR journey path as a virtual image (VIA), wherein the AR path generator (111) determines whether a path segment is a straight segment or not, based on the positional relationship of nodes (N1, N2, N3, N4, N5) in the path segment containing three or more nodes (N1, N2, N3, N4, N5), the AR path generator (111) for the path segment which is defined as the straight segment, creates a straight line (L0, L1, L2) for the AR path which connects a start node (N1) of the path segment with an end node (N5) of the same, The AR route generator (111) determines whether the route segment to be determined is a straight segment or not, based on a distance between a straight line (L0) connecting a segment start node (N1) with a segment end node (N5) in the route segment to be determined as to whether the route segment is a straight segment or not, and another node (N2, N3, N4) contained in the route segment to be determined. the AR route generator (111) divides the route segment to be determined at a node (N3) as a splitting point where the distance is greatest, in a case where a node (N3) for which a distance to the straight line (L0) is greater than a specified threshold is present among the nodes (N2, N3, N4) contained in the route segment to be determined. [2] Display system according to claim 1, wherein the AR path generator (111) determines that the path segment to be determined is a straight segment, in a case where a distance between the straight line (L0) and all other nodes (N2, N3, N4) contained in the path segment to be determined is equal to or less than a predetermined threshold. [3] Display system according to any one of claims 1 and 2, wherein for a travel path section which is defined as a non-straight section, the AR travel path generator (111) forms the AR travel path with a shape which is subjected to curve interpolation using the nodes (N1, N3, N5) which are included in the section as control points. [4] Program to cause a computer to perform a processing operation, comprising: Determining whether a track segment is a straight segment or not, based on the positional relationship of nodes (N1, N2, N3, N4, N5) in the track segment containing three or more nodes, and for the track segment which is defined as the straight segment, forming a straight line (L0, L1, L2)) as the AR track, which connects a start node (N1) of the track segment with an end node (N5) of the same a determination of whether the track section to be determined is a straight section or not, based on a distance between a straight line (L0) connecting a section start node (N1) with a section end node (N5) in the track section to be determined as to whether the track section is a straight section or not, and another node (N2, N3, N4) contained in the track section to be determined, and a division of the route section to be determined at a node (N3) as the division point where the distance is greatest, in a case where a node (N3) for which a distance to the straight line (L0) is greater than a specified threshold is present among the nodes (N2, N3, N4) contained in the route section to be determined. [5] Display device (100) which causes a driver to see a virtual image (VB) by projecting light onto a windscreen (210), the display device (100) comprising: the display system according to any one of claims 1 to 3.

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