Display control device, display device and display control method

Abstract

[Task] It is suppressed that the visual recognition of a virtual object and the perception of the change in its size are made difficult because the virtual object displayed in the distance is too small when viewed by a visual recognizer sitting in the vehicle, and that the virtual object becomes too large when the virtual object is displayed nearby according to the travel of the vehicle. [Solution] A control part 701 of a display control device 700 performs size adjustment processing for gradually enlarging a size of a virtual object VOB held at a predetermined position in the real space according to an approach of a vehicle 1 to the predetermined position in the real space until the size changes from a first size to a second size, and performs adjustment such that a rate of change of the size of the virtual object VOB against the perception distance becomes smaller than a rate of change of the size of the real object in a case where the virtual object VOB is assumed to be a real object existing in the real space, at least during a part of a period of the size adjustment.

Description

[Technical Field]The present invention relates to a display control device mounted on, for example, a vehicle such as an automobile, etc., a display device, a display control method, or the like.[Background art]Patent Document 1 (see FIG. 3,

[0017] to

[0019] ) discloses a technique that makes a visually recognizer perceive as if a three-dimensional object were present at a second display position that is further than the first display position, by displaying a virtual image for a left viewpoint and a virtual image for a right viewpoint that have parallax at a first display position in front of a vehicle.Patent Document 2 (see FIG. 17, [0165) shows an example of display control in which a first route guidance content that guides a vehicle is moved, and then a fourth route guidance content that shows a turning location (direction turning location) of a traveling direction of the vehicle is displayed.[Prior Art Documents][Patent Documents][Patent Document 1] JP 2015-194709 A[Patent Document 2] JP 2020-064047 A[Summary of the Invention][Object to be Solved of the Invention]From the investigation of the present inventors, the following objects have been made clear.(1) In a display example of FIG. 17 of Patent Document 2, a first arrow mark as a virtual object for guiding a travel route of a vehicle is moved along a road, and then, when the first arrow mark reaches a right turn location as a direction turn location, a second arrow mark as a virtual object for guiding right turn is subsequently displayed so as to be superimposed on a right turn road.When the first arrow mark is displayed smaller as the distance from the visually recognizer increases, a same natural perspective as a real object present in the real space may be given to the first arrow mark as a virtual object. In this case, the size of the second sign (virtual object) for guiding right-turn is also set to have the same perspective as the first arrow sign.When the right turn location is significantly away from the visual recognizer, the second arrow mark (virtual object) for guiding the right turn is significantly small, so that a case where the visual recognition by the visual recognizer is difficult can be assumed.In addition, the vehicle gradually approaches the right turn location according to the travel of the vehicle with the passage of time. However, the visual recognition sensitivity of human eyes for a remote object is considerably low. When the same perspective as the real object is displayed in the real world for the second character (virtual object) located in the long range, the visually recognizer hardly perceives the enlargement of the second arrow character (virtual object) corresponding to the approach of the vehicle. It can also be assumed that it is perceived as if its size hardly changes.In this case, it is difficult for the visually recognizer to have an immediate feeling of approaching the right turn location.(2) In order to reduce the above-described problem (1), it is conceivable to increase the size of the second arrow mark (virtual object) at the right turn location as compared to the size of the real object, so that it can be seen favorably. Thus, the visual recognizability of the second arrow mark (virtual object) at the visual recognizer is improved.In this case, when a state in which the vehicle has substantially approached the right turn location is assumed, the second arrow mark (virtual object) is suddenly enlarged according to the approach of the vehicle because the visual recognition sensitivity of the human eyes is sufficiently high for an object located at a near position, so that the second arrow mark becomes too large with respect to the size of the real object, and thus a case in which this causes the generation of the foreign feeling can be assumed.These new objects have been made clear by the inventors.These objects are not stated in the above-mentioned Patent Documents 1 and 2, and no countermeasure therefor is stated.One of the objects of the present invention is to suppress the visual recognition of the virtual object and the perception of the change in its size from being too small when the virtual object displayed remotely is viewed from the visual recognizer seated in the vehicle, and to suppress the virtual object from becoming too large when the virtual object is displayed in accordance with the travel of the vehicle in the vicinity.Other objects of the present invention will become apparent to those skilled in the art in consideration of the following exemplary embodiments and best mode, and the accompanying drawings.[Means for Achieving Object]Hereinafter, configurations according to the present invention will be shown by way of example in order to facilitate understanding of the gist of the present invention.A display control device in a first aspect is mounted on a vehicle, and includes a control part that performs display control in a case where a virtual object is displayed so that a visual recognizer seated in the vehicle can visually recognize it, wherein the control part displays the virtual object of a first size so as to be recognized by the visual recognizer as if the virtual object were present at a predetermined position in a real space in front of the vehicle, and performs size setting processing for gradually enlarging a size of the virtual object held at the predetermined position in the real space according to an approach of the vehicle to the predetermined position in the real space until the size of the virtual object changes to a second size, and, when a distance from an viewpoint position of the visually recognizer to the predetermined position in the real space is a perception distance, in the size setting processing, at least during a part of a period in which the size of the virtual object changes from the first size to the second size, setting is performed such that a rate of change of the size of the virtual object from the perception distance becomes smaller than a rate of change of the size of the real object in a case where the virtual object is assumed to be a real object present in the real space.In the first aspect, the size setting processing for setting the size of the virtual object is performed in the period of the vehicle approaching the predetermined position in the real space.Even if the predetermined position in the real space is considerably distant from the visually recognizer, the virtual object can be displayed with a relatively large and highly visible size by appropriately adjusting its size.However, when the size of the virtual object displayed in a long range with a highly visible size according to the travel of the vehicle is set at the same resize rate (resize rate versus the perception distance) as the real object in the real space, the virtual object in a short range becomes too large, which may possibly cause the strange feeling.In the present configuration, therefore, the size setting processing is performed, wherein the rate of change in the size of the virtual object, in other words, a degree of change in the size from the distance (perception distance) between the visually recognizing person and the position in the real space is configured to be smaller than the rate of change in the size of the real object (this may be referred to as a rate of change in the size in the real world as the size of the virtual object gradually increases at least during a part of the period in which the vehicle approaches the predetermined position in the real space).Thus, it can be suppressed that the size of the virtual object located in the vicinity when viewed from the visual recognizer becomes too large.Consequently, the size of the virtual object from the long range to the short range can be controlled to an appropriate size, so that the enhancement of the good visibility and the suppression of the strange feeling can be realized.In a second configuration depending on the first configuration, the control part may display a left-aspect virtual image and a right-aspect virtual image having parallax on a first virtual display surface configured in front of the vehicle, thereby making the visually recognizer perceive as if the virtual object were present on a second virtual display surface further configured as the first display surface.In the second configuration, the virtual object may be displayed, for example, by a parallax display device (parallax 3D HUD device or the like) of a three-dimensional image on the second display surface, which is displayed at a position farther from the visually recognizer than the first display surface at which the virtual image is displayed. In this display, for example, by appropriately setting the size of the virtual image displayed on the first display surface for each of the left and right aspects, the size of the virtual object perceived by the visually recognizer can be variably controlled.In a third aspect depending on the first aspect or the second aspect, when the perception distance Ds is a size of the virtual object at the predetermined position in the real space L, an arctan is referred to as a trigonometric inverse function of a tangent as Atan, a function that converts an angle in radians unit into an angle in degrees unit is referred to as degrees, a θ degrees (Atan(L / 2Ds)), 2θ is 2*degrees (Atan(L / 2Ds)), and the 2θ is a visual angle, the control part may view the visual angle 2θ as an indicator that shows an apparent size of the perceived virtual object visually recognizing, based on a function showing a relationship between the perception distance and the vision angle 2θ, set the vision angle 2θ corresponding to the perception distance, and variably control the size of the virtual object based on the set vision angle 2θ.In the third aspect, the size of the virtual object whose appearance changes due to the sensitivity of the eyes of a person (visual recognizer) can be objectively determined by the visual angle (=2θ).The size setting processing can be rapidly realized by preparing, for example, a function (characteristic curve) associating the distance between the visually recognizing and the predetermined position in the real space and the visual angle 2θ in advance, calculating, using this function, the visual angle 2θ corresponding to the distance quickly, and variably controlling the apparent size of the virtual object based on the visual angle 2θ.In a fourth aspect depending on any one of the first aspect to the third aspect, when a period in which the size of the virtual object changes from the first size to the second size is divided into a long distance period in which the vehicle is located at a relatively far position from the predetermined position in the real space and a short distance period in which it is located at a relatively close position, the control part may determine the change rate of the size of the virtual object in the short distance period equal to the change rate of the size of the real object.In the fourth aspect, the rate of change in the size of the virtual object in the vicinity viewed from the visual recognizer is determined to be the same as the rate of change in the size of the real object, so that the natural perspective, which is the same as the perspective of the real object in the real space, can be generated in the virtual object. This contributes to reduction of the foreign feeling.In a fifth aspect depending on any one of the first aspect to the fourth aspect, when a period in which the size of the virtual object changes from the first size to the second size is divided into a long distance period in which the vehicle is located at a relatively far position from the predetermined position in the real space and a short distance period in which it is located at a relatively close position, the control part may determine the change rate of the size of the virtual object larger than the change rate of the size of the real object in the long distance period.In the fifth embodiment, grasp of the perspective is facilitated by determining the rate of change of the size of the virtual object in the long range with respect to the distance larger than the rate of change of the size of the real object with respect to the distance and emphasizing the change. In other words, the visually recognizer can easily recognize the approach of the virtual object even in the long range.With respect to the real object in the real space, the rate of change of the size is considerably small with respect to the change of the distance in the long range, so that it may even be perceived as if the virtual object does not approach the predetermined position in the real space.According to the present configuration, the visually recognizer can easily recognize the change in size (in other words, change in perspective) of the virtual object according to the travel of the vehicle even in the long range. In other words, the visually recognizer may intuitively recognize, for example, the approach or the like of the vehicle to the turning destination or the like.In a sixth aspect depending on any one of the first aspect to the fifth aspect, the control part may move, before the size setting processing, a virtual object for guidance that guides forward travel of the vehicle from a close position of the vehicle to the predetermined remote position in the real space, and in this movement, set the size of the virtual object for guidance via a rate of change in the size of the real object in a case where the virtual object for guidance is assumed to be a real object.In the sixth aspect, the virtual object for guidance is moved from the close range to the predetermined remote position in the real space before the size setting processing viewed from the visual recognizer, and guidance of a travel route or the like of the vehicle is performed.Here, the rate of change of the size of the virtual object for advancement from the perception distance (distance from the visually recognizer to the predetermined position in the real space) may be set to be the same as the rate of change of the size of the real object in the real space. This display processing may be referred to as "initial processing", if necessary.The visually recognizer can substantially perceive the distance up to the predetermined position (e.g., direction-turning position of the vehicle) in the real space and acquire the feeling of safety through this initial processing.Even if the virtual object for forward guidance is difficult to see when it reaches the predetermined position in the real space due to being too small in size, the visual visibility of, for example, a virtual object for direction-reversing guidance is improved by being displayed with the easily visible size.Further, in the subsequent course of approaching the predetermined position in the real space, the appropriate adjustment of the size is performed by the above-described size adjustment processing, so that the appropriate perspective can be given to the virtual object for direction change guidance or the like and the strange feeling is suppressed.Consequently, it is possible to display the image for guidance (navigation image) that is favorably seen and in which the strange feeling is low.In a seventh aspect depending on the sixth aspect, the virtual object as the object of the size setting processing may be a virtual object for direction turning guidance that guides the direction turn of the vehicle.In the seventh aspect, as the object of the size setting processing, the virtual object may be, for example, a direction turning guide sign (for guiding the left turn or the right turn) that guides the direction turning (for example, the left turn or the right turn) of the vehicle. Thus, the visual recognizer can securely recognize the direction turning position (position of turning left and turning right) by the guide sign in an appropriate size.In an eighth aspect, a display device includes an image generation part that generates an image, a display part that displays the image, and a display control device according to any one of the first aspect to the seventh aspect, and allows the visually recognizer to perceive the virtual object by projecting a display light of the image onto a member provided on the vehicle for projection.According to the eighth aspect, the display device (desirably, a projection display device such as an HUD device or the like) can be realized that can suppress the visual recognition of the virtual object and the perception of the change in its size from being difficult for the reason that the virtual object displayed remotely is too small as viewed from the visual recognizer seated in the vehicle and, when the virtual object is displayed in the vicinity according to the travel of the vehicle, can suppress the virtual object from becoming too large.In a ninth aspect, a display control method is that which displays a virtual object having a first size such that it is perceived as if the virtual object were present at a predetermined position in the real space in front of a vehicle by a visually recognizer seated in the vehicle, and includes a step of performing size setting processing for gradually enlarging a size of the virtual object held at the predetermined position in the real space according to an approach of the vehicle to the predetermined position in the real space until the size of the virtual object changes to a second size, and when a distance from an viewpoint position of the visually recognizer to the predetermined position in the real space is a perception distance, in the size setting processing, at least during a part of a period of time, In a case where the virtual object is assumed to be a real object present in the real space, setting is performed such that a rate of change of the size of the virtual object with respect to the perception distance becomes smaller than a rate of change of the size of the real object in a case where the virtual object is assumed to be a real object present in the real space.According to the ninth aspect, the display control method can be realized in which it is possible to suppress the visual recognition of the virtual object and the perception of the change in its size from being made difficult for the virtual object displayed remotely to be too small as viewed from the visual recognizer seated in the vehicle, and when the virtual object is displayed in the vicinity according to the travel of the vehicle, it is possible to suppress the virtual object from becoming too large.Those skilled in the art can easily understand that the configurations according to the present invention shown by way of example can be further changed without departing from the spirit of the present invention.[Brief Description of Drawings][FIG. 1 ] FIG. 1(A) is a view showing an example of a constitution of a system installed in a vehicle including a parallax 3D HUD device, and FIG. 1(B) is a view showing an advantageous constitutional example of a control part.[FIG. 2 ] FIGS. 2(A)-(D) are views showing display examples using a virtual object for forward guidance and a virtual object for direction-turning guidance.[FIG. 3 ] is a view showing a display example in which, when the remote virtual object is too small, its size is set to the size favorable for viewing.[FIG. 4 ] is a view showing a task of a case where, according to the display example of FIG. 3, the size of the virtual object has been changed over a same change rate as the real object.[FIG. 5 ] is a view showing a display example based on size setting processing of the virtual object.[FIG. 6 ] FIG. 6(A), (B) are views showing that an apparent size of the virtual object can be set using a visual angle 2θ.[FIG. 7 ] is a view showing an example of control in which the size of the virtual object is controlled using a function that associates a visual angle 2θ with the distance (perception distance) from the visually recognizing to the predetermined position in the real space, and a view showing an example of the change in the size of the virtual object in a case where the control in question has been performed.[FIG. 8 ] is a view showing another example of control in which the size of the virtual object is controlled using the function that associates the visual angle 2θ with the distance (perception distance) from the visually recognizing to the predetermined position in the real space, and a view showing another example of the change in the size of the virtual object in a case where the control has been performed.[FIG. 9 ] is a view showing still another example of the control in which the size of the virtual object is controlled using the function that associates the visual angle 2θ with the distance (perception distance) from the visually recognizer to the predetermined position in the real space, and a view showing still another example of the change in the size of the virtual object in a case where the control in question has been performed.[FIG. 10 ] is a view showing an example of control in a case where the adjustment of the size of the virtual object is realized by variably controlling the distance (perception distance) from the visually recognizer to the predetermined position in the real space, and a view showing an example of the change of the size of the virtual object in a case where the control in question has been performed.[FIG. 11 ] is a view showing an example of control in a case where initial processing is performed, and showing an example of change in size of the virtual object (e.g., guide sign for forward guidance) in a case where the control in question has been performed.[FIG. 12 ] is a flowchart showing an example of the virtual object display control process.[Embodiments of the Invention]A best mode, which will be explained below, is used to facilitate understanding of the present invention. Accordingly, those skilled in the art should make sure that the present invention is not unduly limited by the embodiments explained below.(First Embodiment)Reference is made to FIG. 1. FIG. 1(A) is a view showing an example of a constitution of a system installed in a vehicle including a parallax 3D HUD device, and FIG. 1(B) is a view showing an advantageous constitutional example of a control part.In FIGS. 1(A), (B), the direction along a route connecting left and right eyes E 1, E 2 of a visually recognizer (in other words, width direction of a vehicle 1) is a left-right direction (X direction), the direction along a route orthogonal to each other with the left-right direction and orthogonal to each other with the surface of the earth or a surface corresponding to the surface of the earth (here, road surface 6) is a vertical direction (Y direction), and the direction along a route orthogonal to each other with the left-right direction and the vertical direction (direction showing the direction of the front-and-rear of the vehicle 1), respectively, a front and rear direction (Z direction). A positive Z direction is the front side and a negative Z direction is the back side. This also applies in the other figures.An in-vehicle system 3 shown in FIG. 1(A) provided in the vehicle (own vehicle) 1 includes a pupil detection camera 43 for detecting a pupil (or face), the eye directions and positions of a left eye EL and a right eye ER of a visually recognizing (vehicle occupant seated in the vehicle 1; Driver or the like) 4, a front (in a broader sense, environment) image capturing camera (e.g., stereo camera) 45, an image processing part 46 (including a distance measurement part 47 and an object type / size detection part 48), an HUD device 100, a communication part (having functions of GPS communication, inter-vehicle communication, etc.) 123, and an ECU 120 that can collect various information regarding the vehicle 1 (e.g., information of lighting on / off, traveling speed information, information regarding an engine, etc.).Also, a radar part 125 or the like as a distance measuring means may be further included as needed. The distance measuring means may be used, for example, to measure a distance from the vehicle 1 to a preceding vehicle (front object). Based on this measurement result, display control, for example, performing parallax 3D display in a region where no front object is present, or the like, can be performed.For example, the distance measurement part 47 included in the image processing part 46 may compare an original image captured by a stereo camera as the image capturing camera 45 with a pair of left and right images, detect parallax against a same body (regarded as a front subject) by, for example, stereo matching to search a congruent point of each image, and measure the distance to the front subject according to the principle of triangulation based on this parallax.Moreover, the radar part 125 can measure the distance or the direction up to the object (front object) by shooting a radio wave on the object (front object) and measuring its reflection wave.An information receiving part 119 of the HUD device 100 receives the measured distance information, etc., according to circumstances, and supplies it to a control part 701 of a three-dimensional display device 111.The HUD device 100 is disposed in, for example, an instrument panel (not illustrated) of the vehicle 1. This HUD device 100 includes the three-dimensional display device 111, an optical system 116, a light emission window 118, and the information receiving part 119.The information receiving part 119 may receive various information from a communication part 127, the ECU 120, the radar part 125, the image processing part 46, and so on.Here, the three-dimensional display device 111 is a parallax 3D display device. This three-dimensional display apparatus 111 (parallax 3D display apparatus) includes an image forming part 112, an image display part 113 (liquid crystal display apparatus or the like having an image display surface for displaying the images), a light beam separation part 114 which includes a lenticular lens, a parallax barrier (parallax barrier), etc. and separates the light emitted from the image display surface into beams for each of left and right eyes, and a display control apparatus 700.The display control device 700 includes the control part 701. The control part 701 includes a virtual object size setting part 703.For example, the control part 701 may control the operations of the image generation part (to be concretely described: e.g., image reproduction) 112 and the image display part 113, switch the 2D display / 3D display, and further perform also the control of visually recognizing image content as a countermeasure against superimposition.The optical system 116 includes a bending mirror (concave mirror or the like) 117 that reflects the light from the light beam separation part 114 and projects display lights K 1, K 2 of the image onto a windshield (projecting member) 2. However, it may further include other optical components (lens, sub reflection mirrors, etc.).In FIG. 1(A), an aspect image (referred to as a "parallax image", if necessary) having parallax for each of left and right eyes is displayed by the three-dimensional display device 111 of the HUD device 100. Each parallax image is displayed as a virtual image 25L and a virtual image 25R on a display surface of the virtual image (imaging surface or setting surface) PS as a first display surface, as shown in FIG. 1(A).A three-dimensional image (3D image) 27 having the depth effect is displayed as a virtual object VOB on a converging surface (display surface of the three-dimensional image) VS as a second display surface that is located more rearward than the first display surface PS when viewed from the visual recognizer 4.Moreover, the position of the first display surface PS is referred to as a "setting position" as appropriate in the following explanation. Moreover, a reference point configured on the side of the visual recognizer 4 (here, an eye position of the visual recognizer) is regarded as a reference, a distance up to the first display surface PS is referred to as a "setting distance", as appropriate, and a distance up to the second display surface VS is referred to as a "perception distance (or convergence distance), as appropriate, which is a distance at which the three-dimensional image is perceived by the visual recognizer 4.Moreover, the distance from the first display surface PS to the second display surface VS is referred to as "virtual distance (or depth distance)", as appropriate. The "perception distance" may be referred to as a distance at which the "virtual distance" is added to the "setting distance".When not the 3D display control but the 2D display control is performed, a flat virtual image is displayed on the first display surface PS.Reference is made to Fig. 1(B). The virtual object size setting part 703 provided on the control part 701 includes a perception distance obtaining part 705 and a vision angle 2θ determining part 707 that determines the vision angle 2θ corresponding to the obtained perception distance.The visual angle 2θ is used as an indicator that determines the apparent size of the virtual object VOB seen from the visual recognizer 4. This will be explained later with reference to FIGS. 6(A), (B).Reference is made to FIG. 2. FIGS. 2(A)-(D) are views showing display examples using a virtual object for forward guidance and a virtual object for direction reversal guidance.In FIG. 2(A), a vehicle speed display (display "60 Km / h") SP and a figure of the arrow (characters of the arrow for guidance) FU 1 are displayed as a virtual object VOB 1 for forward guidance moving along a road surface 6 of a road.The figure of the arrow FU1 is a type of navigation display which moves on the road surface 6 and meanwhile guides a course (route) of the vehicle 1. The figure of the arrow FU 1 may be further referred to as an augmented reality (AR) element of a moving body that moves overlapping with the road surface 6 or away from the road surface during the respective change of its position along the road surface 6.The moving route of the figure of the arrow FU1 is shown in Fig. 7(A)-(C) with a broken line.The figure of the arrow FU 1 changes the direction of forward movement in FIG. 2(B), thus promoting the route change of the vehicle 1.In Fig. 2(C), the figure of arrow FU1 approaches a right turning road 7.In FIG. 2(D), a figure of the direction turning arrow FU 2 (direction turning guidance) is displayed as a virtual object VOB 2 showing the direction turning location. That is, concretely, the figure of the arrow FU2 for turning direction is an arrow member for guiding right turn that promotes right turn. By changing from FIG. 2(C) to FIG. 2(D), the switching from the virtual object VOB1 to VOB2 is made.It can be described that, in the example of FIG. 2(D), the figure of the direction turning arrow FU 2 is displayed in a size visually recognizable by the visually recognizer 4.Reference is then made to FIG. 3. FIG. 3 is a view showing a display example in which, when the remote virtual object is too small, its size is set to the size favorable for viewing.In FIG. 3A-1, it is assumed that a direction turning location (here, road 9 for turning left) is farther than the right turning location shown in FIG. 2(D). In this case, the figure of the direction-turning guidance arrow FU 3 showing the left-turn location (road 9 for left-turn) is removed as the virtual object VOB 3, so that its size is considerably small and visual recognition by the visual recognizer 4 is difficult.In this case, the visual visibility can be improved by setting the size of the figure of the direction change guide arrow FU 3 to a size favorable for vision as shown in A- 2 of FIG. 3.Reference is then made to FIG. 4. FIG. 4 is a view showing a task of a case where, according to the display example of FIG. 3, the size of the virtual object has been changed over a same change rate as the real object.A-1 of FIG. 4 shows the figure of the direction reversing guide arrow FU3 as the virtual object VOB3 in A-2 of FIG. 3.Assume a case where thereafter the size of the figure of the direction-turning guidance arrow FU 3 is changed as the virtual object VOB 3 over the same rate of change as the real object.In A-2 of FIG. 4, the sensing distance becomes shorter according to the forward travel of the vehicle 1, and the size of the figure of the direction-turning guide arrow FU3 gradually increases.In A-3 of FIG. 4, the figure of the direction-turning guidance arrow FU3 is considered to be the virtual object VOB3 suddenly large because the sensitivity of the human eyes in the vicinity is sufficiently high, which may cause the strange feeling.Reference is then made to FIG. 5. FIG. 5 is a view showing a display example based on size setting processing of the virtual object.A-1, A-2 of FIG. 5 are identical to A-1, A-2 of FIG. 4.In A- 3 of FIG. 5, the size setting processing of the virtual object is performed, whereby the size of the figure of the direction-turning guidance arrow FU 3 as the close-range virtual object VOB 3 is set to an appropriate size favorable for vision. Consequently, the foreign feeling is suppressed, so that the natural perspective is realized.By performing the size setting processing in this manner, it is possible to suppress the visual recognition of the virtual object and the perception of the change in size thereof from being too small when viewed from the visual recognizer 4 seated in the vehicle 1 (see A- 2 of FIG. 3 ), whereas when the virtual object is displayed in the vicinity according to the travel of the vehicle 1, it is possible to effectively suppress the virtual object from becoming too large (see A- 3 of FIG. 5 ).Reference is then made to FIG. 6. FIGS. 6(A), (B) are views showing that an apparent size of the virtual object can be set using a visual angle 2θ. The parts in Fig. 6 common to those in Fig. 1(A) are given the same reference numerals.In FIG. 6(A), (B), the perception distance is as a distance from the viewpoint of the visual recognizer 4 to the predetermined position in the real space Ds, wherein a size of the virtual object VOB at the predetermined position in the real space is L, an arctan is referred to as a trigonometric inverse function of a tangent is referred to as an atan, a function that converts an angle in Radians unit to an angle in degrees unit is referred to as degrees, a θ degrees (Atan(L / 2Ds)), 2θ 2*degrees (Atan(L / 2Ds)), and the 2θ is a visual angle.In FIG. 6(A), (B), DP is a setting distance as a distance from the viewpoint of the visual recognizer 4 to the first display surface (virtual image display surface) VS, where VL, VR are virtual images displayed on the first display surface VS and have parallax for each of the left and right viewpoints, and PS is a second display surface (converging surface) on which the virtual object VOB is displayed.Moreover, the sensing distance Ds changes in the range of 4 m to 50 m, for example. However, this is an example and is not limited to this example. In the perception distance, the range between 35 m and 50 m is generally referred to as a far range and the underlying range is referred to as a near range. However, this is an example, and the distance (long range) and the vicinity (short range) are flexibly interpreted in consideration of the various conditions.For example, in the example of FIGS. 6(A), (B), the sizes L of the virtual objects VOB are collectively configured to, for example, 0.5m so as not to be different in actual size.However, the sensing distance Ds in FIG. 6(B) is shorter than that in FIG. 6(A), so that the apparent size of the virtual object VOB in FIG. 6(B) sensed by the visual recognizer 4 is larger than the other.As can be seen from FIGS. 6(A), (B), the visual angle 2θ corresponds to the size L of the virtual object VOB. Further, the shorter the perception distance Ds, the more the visual angle 2θ increases.The degree of change (rate of change) of this visual angle 2θ with respect to the perception distance is similar (equal), for example, to a rate of change shown in FIG. 7A-1 having a characteristic curve Q 1(Q 2, Q 3).Thus, the visual angle 2θ can be used as an indicator showing the apparent size of the virtual object VOB perceived by the visual recognizer 4.Consequently, the visual angle 2θ corresponding to the perception distance Ds can be set based on the function (characteristic curve) showing the relationship between the perception distance Ds and the visual angle 2θ, and the size of the virtual object VOB can be variably controlled based on the set visual angle 2θ.For example, by changing the size (and display position), etc., of the virtual images VL, VR on the first display surface (virtual image display surface) VS according to circumstances, the size of the virtual object VOB may change the position.The display processing described above can be quickly realized by first obtaining the perception distance obtaining part 705 of the control part 701 of FIG. 1(B) with the perception distance Ds, obtaining the vision angle 2θ determining part 707 with the vision angle 2θ (obtaining or the like) corresponding to the obtained perception distance Ds, and supplying the acquired vision angle 2θ information to the image generating part 112.Reference is then made to FIG. 7. FIG. 7 is a view showing an example of control in which the size of the virtual object is controlled using a function that associates a visual angle 2θ with the distance (perception distance) from the visually recognizer to the predetermined position in the real space, and a view showing an example of the change in the size of the virtual object in a case where the control in question has been performed.In A-1 of FIG. 7, four characteristic curves (functions) Q1-Q4 are shown.The characteristic line Q 1 shown with a two-dot chain line is a characteristic line (characteristic line in the case of the size "small") that, when the size L (see FIGS. 6(A), (B)) of the virtual object VOB is configured, for example, to "0.05 [m]", shows the rate of change of the size (rate of change of the size in the real world) corresponding to the real object present in the real space.The characteristic line Q 2 shown with a dot-and-dash line is a characteristic line (characteristic line in the case of the size "medium-sized") that, when the size L (see FIGS. 6(A), (B) ) of the virtual object VOB is configured, for example, to "0.07 [m]", shows the rate of change of the size (rate of change of the size in the real world) corresponding to the real object present in the real space.The characteristic line Q 3 shown by a broken line is a characteristic line (characteristic line in the case of the size "large") that, when the size L (see FIGS. 6(A), (B) ) of the virtual object VOB is configured to be, for example, "0.1 [m]", shows the rate of change of the size (rate of change of the size in the real world) corresponding to the real object present in the real space.The characteristic line Q 4 shown with a solid line is a characteristic line (characteristic line after adjustment) used for the size adjustment processing.Further, in A- 1 of FIG. 7, for example, D 10 shows the sensing distance in a case where the distance between the visual recognizer 4 and the predetermined position in the real space is farthest (case where the predetermined position in the real space is farthest), and D 0 shows the sensing distance in a case where the distance is shortest (case where the visual recognizer 4 is closest to the predetermined position in the real space).The sensitivity of human eyes is low in the long range and sufficiently high in the short range so that when the perception distance is in the range D10-D4, for example, in the characteristic curves Q1-Q3, the rate of change of the visual angle 2θ with respect to the perception distance Ds is small (the change moderate), and when the perception distance is in the range D4-D0, the rate of change suddenly becomes large (the change steep).As shown on the right lower side of FIG. 7, when the apparent size of the virtual object VOB is VM 1 at the sensing distance D 10, it is too small and its visual recognition is difficult, so that the size of the virtual object VOB is set to reach the apparent size VM 2 that is relatively favorable for viewing.Assuming that the apparent size of the virtual object VOB has been configured to VM 2 at the sensing distance D 10, this apparent size VM 2 corresponds to the apparent size at the sensing distance D 10 at the characteristic Q 3 shown by the broken line of the size "large".Thus, when the size of this virtual object VOB is to be changed at the same rate of change as the real object, the characteristic Q3 is selected.However, when the size of the virtual object VOB is changed according to the characteristic line Q3, as shown at the upper left of A-1 of FIG. 7, the apparent size of the virtual object VOB reaches VM4in a case where the sensing distance D0is so as to become too large, causing the strange feeling.Here, in A- 1 of FIG. 7, the size setting processing is performed using the characteristic curve (function) Q 4 shown by the solid line after the setting, so that the size of the virtual object VOB is variably controlled to the appropriate size during the setting.In other words, in the example of FIG. 7, the "size setting processing" for setting the size of the virtual object VOB is performed in the period of approaching the vehicle 1 to the predetermined position in the real space.In the "size setting processing", processing is performed in which the rate of change of the size of the virtual object VOB from the perception distance, in other words, a degree of change of the size from the distance (perception distance) between the visual recognizer 4 and the position in the real space is configured smaller than the rate of change of the size of the real object at least during a part of the period in which the vehicle 1 approaches the predetermined position in the real space upon gradual increase of the size of the virtual object. Thus, it can be suppressed that the size of the virtual object VOB located in the vicinity as viewed from the visual recognizer becomes too large.In the example in A- 1 of FIG. 7, the size adjustment processing is performed by the characteristic line Q 4 shown by the solid line after adjustment, and regarding the perception distance in the vicinity of D 0, the apparent size of the virtual object VOB VM 3 reaches, so that a size that is not too large and favorable for viewing is realized.In the example of FIG. 7, the size of the virtual object VOB can be controlled to an appropriate size from the long range to the short range in this manner, so that the enhancement of the favorable visibility and the suppression of the strange feeling can be realized.Next, a principal characteristic point of the characteristic curve Q4 after the adjustment in A-1 of FIG. 7 will be explained. In the characteristic line Q 4 after the adjustment shown with a solid line, the rate of change of the magnitude in the range of the sensing distance D 10-D 4 is suppressed to be smaller than the rate of change of the magnitude of the characteristic line Q 3 shown with a broken line.By this size suppression, it is possible to change the apparent size of the virtual object VOB in the vicinity of the sensing distance D 0 to the size VM 3 that is not too large.Further, in the characteristic curve Q 4 after the setting, the rate of change of the magnitude is configured to the substantially same (simply same) rate of change as the characteristic curve Q 3 or Q 2 in the range of the sensing distance D 4 to D 0.In other words, when a period (period from time t 1- t 6 in A- 2 of FIG. 7 ) in which the apparent size of the virtual object VOB in the first size VM 2 at the sensing distance D 0 reaches the second size VM 3 is divided into a long-distance period in which the vehicle 1 is located at a position relatively far from the predetermined position in the real space and a short-distance period in which it is located at a relatively close position, for convenience of explanation, In the near period (in the vicinity of time t 4 to the vicinity of time t 6 in A- 2 of FIG. 7 ), the control part 701 determines the rate of change of the size of the virtual object VOB substantially equal to (simply equal to) the rate of change of the size of the real object.The rate of change in the size of the virtual object VOB is determined to be the same as the rate of change in the size of the real object in the vicinity viewed from the visual recognizer 4, so that the natural perspective, which is the same as the perspective of the real object in the real space, can be generated in the virtual object VOB. This contributes to reduction of the foreign feeling.Reference is made to A-2 of Fig. 7. A- 2 of FIG. 7 shows an example of a change in distance (perception distance) between the position of the vehicle 1 and the position of the virtual object in a case where, when performing the setting of the size of the virtual object VOB based on the characteristic line Q 4 after the setting in A- 1 of FIG. 7, the apparent size of the virtual object VOB is gradually increased with time.In the example in A- 2 of FIG. 7, the apparent size of the virtual object VOB changes at times t 1- t 6 corresponding to the visual angle 2 θ, respectively, on the characteristic curve Q 4 corresponding to the perception distance Ds (=Q 4 (Ds)). In other words, Q4(Ds) is determined as a function of the characteristic curve Q4, and the apparent size of the virtual object VOB changes as follows at the times t1 - t6, respectively: Q4(Ds(t1))=Q4(D10), Q4(Ds(t2)), Q4(Ds(t3)), Q4(Ds(t4)), Q4(Ds(t5))=Q4(D2), Q4(Ds(t6))=Q4(D0). Time t 1 corresponds to the sensing distance D 10, time t 5 corresponds to the sensing distance D 2, and time t 6 corresponds to the sensing distance D 0. Further, at times t1 - t6, respectively, the size of the virtual object VOB changes as a value of time t as follows: L(t1), L(t2), L(t3), L(t4), L(t5), L(t6), in other words, substantially as follows: size large, size large, size medium" (size medium" > size medium), size medium, size medium, size medium, size medium.In the example of FIG. 7, the size of the virtual object VOB can be controlled to an appropriate size from the long range to the short range in this manner, so that the enhancement of the favorable visibility and the suppression of the strange feeling can be realized.(Second Embodiment)Reference is made to A-1 of Fig. 8. In the example in A- 1 of FIG. 8, the size adjustment processing is performed using the characteristic curve (function) Q 5 after the adjustment.In the example in A- 1 of FIG. 8, the distance (time period from time t 11- t 15 in A- 2 of FIG. 8 ) of the sensing distance from D 10 to D 4 is a long range for convenience of explanation, and the distance (time period from time t 15- t 19 in A- 2 of FIG. 8 ) of the sensing distance from D 4 to D 0 is a short range.In A- 1 of FIG. 8, grasp of the perspective is facilitated by determining the rate of change of the size of the virtual object VOB in the long range (distance of the sensing distance D 10-D 4) from the distance (sensing distance) to be larger than the rate of change (characteristic Q 3) of the size from the distance of the real object, and emphasizing the change. In other words, the visually recognizer 4 can easily recognize the approach of the virtual object VOB even in the long range.With respect to the real object in the real space, the rate of change in size relative to the change in distance in the long range is considerably small, so that when performing the size adjustment that is adapted to the real object, it may even be perceived as if the virtual object VOB does not approach the predetermined position in the real space.In the example of FIG. 8, the visual recognizer 4 can easily recognize the change in size (in other words, change in perspective) of the virtual object VOB according to the travel of the vehicle 1 even in the long range. In other words, the visual recognizer 4 intuitively easily recognizes, for example, the approach or the like of the vehicle 1 to the direction turning location or the like.In the example in A- 2 of FIG. 8, the apparent size of the virtual object VOB changes at times t 11 to t 19 corresponding to the visual angle 2θ, respectively, on the characteristic curve Q 5 corresponding to the perception distance, in other words, as follows: Q5(Ds(t11))=Q5(D10), Q5(Ds(t12)), Q5(Ds(t13)), Q5(Ds(t14)), Q5(Ds(t15))=Q5(D4), Q5(Ds(t16)), Q5(Ds(t17)), Q5(Ds(t18)), Q5(Ds(t19)=Q5(D0). Time t 11 corresponds to the sensing distance D 10, time t 15 corresponds to the sensing distance D 4, and time t 19 corresponds to the sensing distance D 0. Further, at times t11 - t19, the size of the virtual object VOB changes as follows: L(t11), L(t12), L(t13), L(t14), L(t15), L(t16), L(t17), L(t18), L(t19), in other words, substantially as follows: large size, large size', large size" (large size"> large size"> large size), large size", medium size" (medium size"> medium size"> medium size"> medium size), medium size", medium size, medium size, medium size. In the example of FIG. 8, the size of the virtual object VOB can be controlled to an appropriate size from the long range to the short range in this manner, so that particularly the improvement of the visual visibility in the long range can be realized, as well as the enhancement of the favorable visibility and the suppression of the strange feeling can be realized.(Third Embodiment)Reference is made to FIG. 9. In the example of FIG. 9, the size adjustment processing is performed using the characteristic curve (function) Q 6 or Q 7 after the adjustment.Also in the present embodiment, the change in the size of the virtual object in the long range is also emphasized as in the example of FIG. 8 explained above. In the example of FIG. 9, however, the degree of emphasis is further higher than the example of FIG. 8.The section from the point A to the point B of the characteristic curve Q 6 in FIG. 9 is a section corresponding to the long range, and the section from the point B to the point C is a section corresponding to the short range.Moreover, the section from the point A to the point D of the characteristic curve Q 7 is a section corresponding to the long range, and the section from the point D to the point C is a section corresponding to the short range.In the example of FIG. 9, grasp of the perspective is further facilitated by determining the rate of change of the size of the virtual object VOB with respect to the distance (perception distance) in the long range to be further larger than the rate of change (characteristic curve Q 3) of the size of the real object with respect to the distance and further emphasizing the change.In other words, the visually recognizer 4 can more easily recognize the approach of the virtual object VOB even in the long range.(Fourth Embodiment)Reference is made to FIG. 10. FIG. 10 is a view showing an example of control in a case where the adjustment of the size of the virtual object is realized by variably controlling the distance (perception distance) from the visually recognizer to the predetermined position in the real space, and a view showing an example of the change of the apparent size of the virtual object in a case where the subject control has been performed.A-1 of FIG. 10 is identical to A-1 of FIG. 8 discussed above. Also, the change in the size of the virtual object VOB in A-2 of Fig. 10 corresponding to the times t11 - t19 is identical to A-2 of Fig. 8, and the size of the virtual object VOB changes at the times t11 - t19, respectively, as follows: L(t11), L(t12), L(t13), L(t14), L(t15), L(t16), L(t17), L(t18), L(t19), in other words, substantially as follows: large size, large size', large size" (large size" > large size" > large size), large size', medium size" (medium size" > medium size" > medium size), Medium size, medium size, medium size, medium size.However, in A-2 of FIG. 10, the realization is made by variably controlling the distance (perception distance) from the visually recognizer 4 to the predetermined position in the real space at the times t12-t14. Also, by changing the position at which the virtual object VOB is displayed, as A-2 in FIG. 10, the apparent size of the virtual object VOB changes at times t12-114 as Q5(Ds(t12) after the change), Q5(Ds(t13) after the change), Q5(Ds(t14) after the change), respectively, so that the same effect as the example of FIG. 8 can be obtained.(Fifth Embodiment)Reference is made to FIG. 11. FIG. 11 is a view showing an example of control in a case where initial processing is performed, and showing an example of changing the size of the virtual object (e.g., guide sign for forward guidance) in a case where the control in question has been performed.A-1 of FIG. 11 is identical to A-1 of FIG. 7 discussed above. Both the change in the size of the virtual object VOB at the times t1-t6 in A-2 of Fig. 11 and the change in the apparent size of the virtual object VOB are the same as A-2 of Fig. 7.However, in A-2 of FIG. 11, the initial processing is performed in the period of time ts-tw before time t1.In the initial processing in A-2 of FIG. 11, the virtual object (for example, figure of arrow FU 1 shown in FIG. 2 in advance) for guidance is moved from the close range to the predetermined remote position in the real space before the size setting processing as viewed from the visual recognizer 4, and a travel route or the like of the vehicle 1 is guided.Here, the rate of change of the size of the virtual object VOB for feed-forward from the sensing distance (distance from the visually recognizer 4 to the predetermined position in the real space) may be set to be the same as the rate of change of the size of the real object VOB in the real space. This display processing is referred to as "initial processing".The size of the virtual object VOB for guidance changes at the times ts - tu as follows: medium size, small size, small size. The size can be fixed to small at the times ts-tu.The visual recognizer 4 can substantially perceive the distance up to the predetermined position (e.g., direction-turning position of the vehicle) in the real space and acquire the feeling of safety through this initial processing.Although the virtual object VOB for guidance is difficult to see when it reaches the predetermined position in the real space due to being too small in size, the virtual object VOB for direction reversal guidance is displayed, as already explained, in the size favorable for viewing, for example, by the size setting processing, so that the visual visibility is improved.In the subsequent course of approaching the predetermined position in the real space, the setting of the appropriate size is further performed by the above-described size setting processing, so that the appropriate perspective can be given to the virtual object VOB for direction change guidance and the strange feeling is suppressed. Consequently, it is possible to display the image for guidance (navigation image) that is favorably seen and in which the strange feeling is low.(Sixth Embodiment)Reference is then made to FIG. 12. FIG. 12 is a flowchart showing an example of the virtual object display control process.In step S 1, it is judged whether or not, regarding the apparent size of the virtual object, the size adjustment based on a different rate of change from the rate of change of the size in the real world is required.The "rate of change of the size in the real world" is a rate of change of the size of the real object from the distance in a case where the virtual object is assumed to be a real object in the real space.If Y in step S1, step S2 follows and if N, step S7 follows.In step S 2, a characteristic curve (function) is selected that determines the relationship between the distance (perception distance) and the size (visual angle).In step S 3, the virtual object is displayed in a size that is set based on the selected characteristic (function) and corresponds to the distance (perception distance).In step S 4, it is judged whether the distance (perception distance) has been changed. If J follows step S 5 and if N, the return to step S 3 takes place.In step S5, the distance (perceptual distance) is renewed.In step S6, it is judged whether the display is ended. At J, the display ends, and at N, the return to step S3 is made.Moreover, the display (3D display) is continued in step S 7 based on the change rate in the real world.In step S8, it is judged whether the display is ended. At J, the display ends, and at N, the return to step S7 is made.According to the present invention, as described above, it can be suppressed that the visual recognition of the virtual object and the perception of the change in its size are made difficult for the reason that the virtual object displayed remotely is too small as viewed from the visual recognizer seated in the vehicle, and on the other hand, when the virtual object is displayed in the vicinity according to the travel of the vehicle, it can be suppressed that the virtual object becomes too large.The present invention is not limited to the above-described embodiments and can be modified in various ways. In the above-described embodiment, for example, the parallax 3D is explained. However, the present invention is also applicable to, for example, a case where the image for each of the left and right aspects is displayed two-dimensionally as same images without parallax.In the present description, the term vehicle can be understood in the broader sense as means of transport. Also, the terms (e.g., characters, etc.) regarding the navigation are also broadly construed in consideration of, for example, the viewpoint, etc., of the navigation information in the broader sense useful for the travel of the vehicle. Moreover, the HUD device (and broadly, the display device) also includes the devices used as a simulator (e.g., simulator for aircraft, simulator as a video game console, or the like).The present invention is not limited to the above-described exemplary embodiments, and those skilled in the art could easily change the above-described exemplary embodiments to a scope that the claims encompass.[List of Reference Numerals]1 .. Vehicle (own vehicle), 2... Windshield (component for projecting), 3... Display System, 4... Visually recognizer (vehicle occupant, driver), 6... Road surface, 43... Pupil Imaging Camera, 45... Camera for Scene Imaging, 46... Image processing part 47... Distance Measuring Part, 48... Object Type / Size Detection Part, 100... HUD device, 111... Three-dimensional Display Apparatus, 112... Image forming part 113... Display part (display panel, etc.), 114... A beam deposition part (lenticular lens, parallax barrier or the like), 116... Optical part, 117... The bending mirror (concave mirror or the like), 118... Light emission windows, 119... Information Receiving Part, 120... ECU, 121... Navigation part 123... Communication part, 125... Radar part, 700... Display control device (processor or the like), 701... Control part, 703... Virtual Object Size Setting Part 705... Perceptual Distance Determination Part, 707... Visual Angle Determination Part 2θ, K 1, K 2... Display light, PS... First display area (virtual image display area), VS... Second display area (convergence area), 2θ... Angle of ViewReferences included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedJP 2015-194709 A

[0003] JP 2020-064047 A

[0003]

Claims

A display control device mounted on a vehicle, comprising a control part that performs display control in a case where a virtual object is displayed so that a visual recognizer seated in the vehicle can visually recognize it, wherein the control part displays the virtual object of a first size so as to be recognized by the visual recognizer as if the virtual object were present at a predetermined position in a real space in front of the vehicle, and performs size setting processing for gradually enlarging a size of the virtual object held at the predetermined position in the real space according to an approach of the vehicle to the predetermined position in the real space until the size of the virtual object changes to a second size, and when a distance from an viewpoint position of the visual recognizer to the predetermined position in the real space is a perception distance, in the size setting processing, at least during a part of a period in which the size of the virtual object changes from the first size to the second size, setting is performed such that a rate of change of the size of the virtual object with respect to the perception distance becomes smaller than a rate of change of the size of the real object in a case where the virtual object is assumed to be a real object existing in the real space.The display control device according to claim 1, wherein the control part displays a virtual image for a left viewpoint and a virtual image for a right viewpoint having parallax on a first virtual display surface configured in front of the vehicle, thereby making the visually recognizer perceive as if the virtual object were present on a second virtual display surface further configured as the first display surface.The display control device according to claim 1, wherein when the perception distance is Ds, a size of the virtual object at the predetermined position in the real space is L, an arctan is referred to as a trigonometric inverse function of a tangent as Atan, a function that converts an angle in radians unit into an angle in degrees unit is referred to as degres, a θ degres (Atan(L / 2Ds)), 2θ is 2*degrees (Atan(L / 2Ds)), and the 2θ is a visual angle, the control part regards the visual angle 2θ as an indicator that shows an apparent size of the perceived virtual object by the visual recognizer based on a function, showing a relationship between the perception distance and the viewing angle 2θ, sets the viewing angle 2θ corresponding to the perception distance, and variably controls the size of the virtual object based on the set viewing angle 2θ.The display control device according to claim 1, wherein when a period in which the size of the virtual object changes from the first size to the second size is divided into a long distance period in which the vehicle is located at a relatively far position from the predetermined position in the real space and a short distance period in which it is located at a relatively close position, the control part determines, in the short distance period, the rate of change of the size of the virtual object equal to the rate of change of the size of the real object.The display control device according to claim 1, wherein when a period in which the size of the virtual object changes from the first size to the second size is divided into a long distance period in which the vehicle is located at a relatively far position from the predetermined position in the real space and a short distance period in which it is located at a relatively close position, the control part determines, in the long distance period, the rate of change of the size of the virtual object larger than the rate of change of the size of the real object.The display control device according to claim 1, wherein the control part, before the size setting processing, moves a virtual object for guidance that guides a forward travel of the vehicle from a nearby position of the vehicle to the predetermined distant position in the real space, and, in this movement, sets the size of the virtual object for guidance via a change rate of the size of the real object in a case where the virtual object for guidance is assumed to be a real object.The display control device according to claim 6, wherein the virtual object as the object of the size setting processing is a virtual object for direction turning guidance that guides the direction turn of the vehicle.A display device including an image generation part that generates an image, a display part that displays the image, and a display control device according to any one of claims 1 to 7, and having the visually recognizer perceive the virtual object by projecting a display light of the image onto a member provided on the vehicle for projection.A display control method that displays a virtual object in a first size so as to be perceived by a visual recognizer seated in the vehicle as if the virtual object were present at a predetermined position in the real space in front of a vehicle, comprising a step of performing size setting processing for gradually enlarging a size of the virtual object held at the predetermined position in the real space according to an approach of the vehicle to the predetermined position in the real space until the size of the virtual object changes to a second size, and when a distance from an viewpoint position of the visual recognizer to the predetermined position in the real space is a perception distance, in the size setting processing, at least during a part of a period in which the size of the virtual object changes from the first size to the second size, setting is performed such that a rate of change of the size of the virtual object from the perception distance becomes smaller than a rate of change of the size of the real object in a case where the virtual object is assumed to be a real object existing in the real space.

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