Display control device, method and program

Abstract

To minimize a sense of incongruity given to an occupant when the accuracy of the position detection of a target decreases.SOLUTION: When position information indicating a position of a preceding vehicle is input from a camera unit 24 and an amount of change in the position of the preceding vehicle or an average of movements of the amounts of change is equal to or smaller than a first predetermined value, a display control ECU 42 displays a following mark at a position corresponding to the position of the preceding vehicle indicated by the position information in a display area of an AR-HUD 56. On the other hand, when the amount of change in the position of the preceding vehicle or the average of the movements of the amounts of change exceeds a second predetermined value that is equal to or larger than the first predetermined value, the display control ECU restricts movement of a display position of the following mark in the display area of the AR-HUD 56.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a display control device, a display control method, and a display control program.

Background Art

[0002] Patent Document 1 describes a technique of displaying a mark so as to overlap a preceding vehicle as a following target in a following driving control using a HUD (Head Up Display) when the preceding vehicle as the following target in the following driving control is detected.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a mark is displayed at a position corresponding to an object such as a preceding vehicle, the accuracy of detecting the position of the object by a sensor for detecting the object varies depending on, for example, the color of the object, the distance to the object, the weather, and the like. And when the accuracy of detecting the position of the object by the sensor decreases, the mark may be displayed at a position significantly separated from the position corresponding to the object, or the display position of the mark may change vibratorily, giving a sense of discomfort to the occupants of the host vehicle.

[0005] As an example, FIG. 6A shows a state in which a rod-shaped following mark 76 is displayed at a position corresponding to the preceding vehicle 74 as an object. Further, FIG. 6B shows a state in which a rod-shaped following mark 76 is displayed at a position shifted by 2 to 3 m in the vehicle width direction and also by several meters in the vehicle vertical direction from the position corresponding to the preceding vehicle 74. In the state shown in FIG. 6B, it may give a sense of discomfort to the occupant. Also, FIG. 7 shows an example of the transition of errors in the position detection of the preceding vehicle in rainy weather by a camera as an example of the sensor. If the mark is displayed using the position detection result shown in FIG. 7 as it is, the display position of the mark changes vibrantly during period A in which the error fluctuates, and the mark is displayed at a position significantly separated from the position corresponding to the object during period B in which the preceding vehicle is lost.

[0006] The present disclosure has been made in consideration of the above facts, and an object is to obtain a display control device, a display control method, and a display control program that can suppress giving a sense of discomfort to an occupant when the accuracy of detecting the position of an object decreases.

Means for Solving the Problems

[0007] When the change amount of the position of the object represented by the position information output from the detection unit that detects the object or a physical quantity obtained from the change amount is equal to or less than a first predetermined value, the display control device according to the first aspect displays a mark at a position corresponding to the position of the object represented by the position information within the display area of the display device. When the change amount or the physical quantity exceeds a second predetermined value that is equal to or greater than the first predetermined value, the display control device includes a display control unit that restricts the movement of the display position of the mark within the display area of the display device.

[0008] In the first aspect, position information representing the position of the object is output from the detection unit that detects the object. Here, when the change amount of the position of the object represented by the position information or a physical quantity obtained from the change amount is equal to or less than a first predetermined value, that is, when the accuracy of detecting the position of the object is high, a mark is displayed at a position corresponding to the position of the object represented by the position information within the display area of the display device.

[0009] On the other hand, when the change amount or the physical quantity exceeds a second predetermined value that is equal to or greater than the first predetermined value, that is, when the accuracy of the position detection of the object decreases, the movement of the display position of the mark within the display area of the display device is restricted. As a result, when the accuracy of the position detection of the object decreases, it is possible to prevent the mark from being displayed at a position far from the position corresponding to the object or the display position of the mark from changing vibratorily, thereby preventing the driver from feeling uncomfortable.

[0010] According to a second aspect, in the first aspect, when the average or standard deviation of the change amount as the physical quantity exceeds a first threshold value as the second predetermined value, the display control unit stops the movement of the display position of the mark.

[0011] According to the second aspect, when the accuracy of the position detection of the object decreases, it is possible to prevent the mark from being displayed at a position far from the position corresponding to the object.

[0012] According to a third aspect, in the second aspect, when the distance from the object is equal to or greater than a predetermined distance, the display control unit sets the second predetermined value to be smaller than when the distance from the object is less than the predetermined distance.

[0013] According to an experiment conducted by the inventors of the present application, when a mark is displayed at a position corresponding to the position of an object, the allowable amount of displacement of the position of the mark decreases as the distance from the object increases. Based on this, in the third aspect, when the distance from the object is equal to or greater than a predetermined distance, the second predetermined value is set to be smaller than when the distance from the object is less than the predetermined distance. Thereby, it is possible to reduce the amount of displacement of the display position of the mark when the distance from the object is relatively large, and it is possible to more reliably prevent the driver from feeling uncomfortable when the distance from the object is relatively large.

[0014] According to a fourth aspect, in the first aspect, when the change amount exceeds a second threshold value as the second predetermined value, the display control unit sets the movement amount of the display position of the mark to be equal to or less than a preset upper limit value.

[0015] According to the fourth aspect, when the accuracy of detecting the position of the object decreases, it is possible to suppress the display position of the mark from changing vibratorily.

[0016] In a fifth aspect, in the first aspect, when the change amount or the physical quantity exceeds the second predetermined value, the display control unit determines the display position of the mark based on the position information detected before the timing when the change amount or the physical quantity exceeded the second predetermined value.

[0017] If the display position of the mark is determined using the position information detected after the timing when the change amount or the physical quantity exceeded the second predetermined value when the change amount or the physical quantity continues to exceed the second predetermined value, it may occur that the mark cannot be displayed at an appropriate position. In contrast, in the fifth aspect, the display position of the mark is determined based on the position information detected before the timing when the change amount or the physical quantity exceeded the second predetermined value. Thereby, even when the change amount or the physical quantity continues to exceed the second predetermined value, the mark can be displayed at an appropriate position.

[0018] In a sixth aspect, in the first aspect, the first predetermined value and the second predetermined value are set separately in the vehicle width direction and the vehicle vertical direction, and when the change amount or the physical quantity in the vehicle width direction is equal to or less than the first predetermined value in the vehicle width direction, the display control unit sets the display position of the mark in the vehicle width direction to a position corresponding to the position of the object in the vehicle width direction represented by the position information. When the change amount or the physical quantity in the vehicle width direction exceeds the second predetermined value in the vehicle width direction, the display position of the mark in the vehicle width direction is set so that the movement of the display position of the mark in the vehicle width direction within the display area of the display device is restricted. When the change amount or the physical quantity in the vehicle vertical direction is equal to or less than the first predetermined value in the vehicle vertical direction, the display position of the mark in the vehicle vertical direction is set to a position corresponding to the position of the object in the vehicle vertical direction represented by the position information. When the change amount or the physical quantity in the vehicle vertical direction exceeds the second predetermined value in the vehicle vertical direction, the display position of the mark in the vehicle vertical direction is set so that the movement of the display position of the mark in the vehicle vertical direction within the display area of the display device is restricted.

[0019] When displaying a mark at a position corresponding to the position of an object, it is possible that the allowable amount of position deviation of the mark differs between the vehicle width direction and the vehicle vertical direction. In contrast, in the sixth aspect, the first predetermined value and the second predetermined value are set separately in the vehicle width direction and the vehicle vertical direction, and it is determined whether the change amount or the physical quantity is equal to or less than the first predetermined value or exceeds the second predetermined value, respectively, in the vehicle width direction and the vehicle vertical direction. Thereby, even when the allowable amount of position deviation of the mark differs between the vehicle width direction and the vehicle vertical direction, the mark can be displayed at an appropriate position in each of the vehicle width direction and the vehicle vertical direction.

[0020] In a seventh aspect, in the first aspect, the display device is a head-up display (HUD).

[0021] According to the seventh aspect, in the aspect of displaying a mark in the display area of the HUD, when the accuracy of detecting the position of the object decreases, it is possible to suppress giving a sense of discomfort to the occupant.

[0022] According to the eighth aspect, in the first aspect, the object is a preceding vehicle that is being subjected to follow-up control by Adaptive Cruise Control (ACC).

[0023] In the eighth aspect, since a mark is displayed at a position corresponding to the position of the preceding vehicle that is being subjected to follow-up control by ACC, the preceding vehicle that is being subjected to follow-up control by ACC can be recognized by the occupant. Further, according to the present disclosure, even when the accuracy of detecting the position of the object decreases, the displacement of the mark is suppressed, so that it is possible to suppress giving a sense of uneasiness or the like to the occupant regarding the accuracy of ACC.

[0024] The display control method according to the ninth aspect causes a computer to execute a process including: when the amount of change in the position of the object represented by the position information output from the detection unit that detects the object or a physical quantity obtained from the amount of change is equal to or less than a first predetermined value, displaying a mark at a position corresponding to the position of the object represented by the position information within the display area of the display device; and when the amount of change or the physical quantity exceeds a second predetermined value that is equal to or greater than the first predetermined value, restricting the movement of the display position of the mark within the display area of the display device.

[0025] According to the ninth aspect, similar to the first aspect, when the accuracy of detecting the position of the object decreases, it is possible to suppress giving a sense of discomfort to the occupant.

[0026] The display control program according to the tenth aspect causes a computer to display a mark at a position corresponding to the position of the object represented by the position information within the display area of the display device when the amount of change in the position of the object represented by the position information output from the detection unit for detecting the object or a physical quantity obtained from the amount of change is equal to or less than a first predetermined value, and to restrict the movement of the display position of the mark within the display area of the display device when the amount of change or the physical quantity exceeds the first predetermined value and is greater than a second predetermined value.

[0027] According to the tenth aspect, similarly to the first aspect, it is possible to suppress giving a sense of discomfort to the occupant when the accuracy of detecting the position of the object decreases.

Effect of the Invention

[0028] The present disclosure has an effect of being able to suppress giving a sense of discomfort to the occupant when the accuracy of detecting the position of the object decreases.

Brief Description of the Drawings

[0029]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6A

Figure 6B

Figure 7

Figure 8

Figure 9

Figure 10A

Figure 10B

Mode for Carrying Out the Invention

[0030] Hereinafter, an example of an embodiment of the present disclosure will be described in detail with reference to the drawings.

[0031] 〔First Embodiment〕 As shown in FIG. 1, an in-vehicle system 10 according to the present embodiment includes a communication bus 12. A peripheral situation acquisition device group 14, a vehicle running state detection sensor group 26, an ADAS (Advanced Driver-Assistance Systems)-ECU (Electronic Control Unit) 34, and a display control ECU 42 are connected to the communication bus 12, respectively. Note that FIG. 1 shows only a part of the in-vehicle system 10. Hereinafter, a vehicle equipped with the in-vehicle system 10 is referred to as the host vehicle.

[0032] The peripheral situation acquisition device group 14 includes a GNSS (Global Navigation Satellite System) device 16, an in-vehicle communicator 18, a navigation system 20, a radar device 22, a camera unit 24, etc., as devices that acquire information indicating the surrounding environment of the host vehicle.

[0033] The GNSS device 16 receives GNSS signals from a plurality of GNSS satellites to measure the position of the host vehicle. The in-vehicle communicator 18 performs at least one of vehicle-to-vehicle communication with other vehicles and road-to-vehicle communication with roadside units. The navigation system 20 includes a map information storage unit 20A that stores map information, and based on the position information obtained from the GNSS device 16 and the map information stored in the map information storage unit 20A, it performs processes such as displaying the position of the host vehicle on a map, determining and guiding a route to a destination.

[0034] The radar device 22 detects objects such as pedestrians and other vehicles existing around the host vehicle as point cloud information, and acquires the relative position and relative speed between the detected objects and the host vehicle. Further, based on changes in the relative position and relative speed with respect to individual objects, the radar device 22 excludes roadside objects such as noise and guardrails from the monitoring targets, and outputs information such as the relative position and relative speed with respect to monitoring target objects such as pedestrians and other vehicles.

[0035] The camera unit 24 captures the surroundings of the host vehicle with a plurality of cameras and outputs the captured images. Although not shown, the camera unit 24 incorporates a CPU (Central Processing Unit), a memory such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and a non-volatile storage unit such as an HDD (Hard Disk Drive) and an SSD (Solid State Drive). The storage unit stores a predetermined program for causing the CPU of the camera unit 24 to function as a preceding vehicle detection unit 70 (see FIG. 2). The preceding vehicle detection unit 70 recognizes the preceding vehicle of the host vehicle reflected in the image from the images in front of the host vehicle captured by a plurality of cameras, and detects and outputs the distance between the host vehicle and the preceding vehicle and the relative position in the vehicle width direction as position information. Note that the output cycle of the position information from the preceding vehicle detection unit 70 is, for example, 100 milliseconds.

[0036] In addition, the vehicle driving state detection sensor group 26 includes, as a plurality of sensors for acquiring the driving state of the vehicle, a steering angle sensor 28 that detects the steering angle of the host vehicle, a vehicle speed sensor 30 that detects the driving speed of the host vehicle, and an acceleration sensor 32 that detects the acceleration applied to the host vehicle.

[0037] The ADAS-ECU 34 is connected to a throttle ACT 36 that changes the throttle opening of the host vehicle, a brake ACT 38 that changes the braking force generated by the braking device of the host vehicle, and a steering ACT 40 that changes the steering amount by the steering device of the host vehicle, respectively.

[0038] The ADAS-ECU 34 includes a CPU, a memory such as a ROM and a RAM, a non-volatile storage unit such as an HDD and an SSD, and a communication I / F (Interface). The ADAS software is stored in the storage unit. When the automatic driving mode is selected by the CPU executing the automatic driving software, the ADAS-ECU 34 performs an automatic driving process for automatically driving the host vehicle without the driving operation by the occupant of the host vehicle.

[0039] The automatic driving process is a process of determining the situation of the host vehicle and its surroundings based on the information obtained from the surrounding situation acquisition device group 14 and the vehicle driving state detection sensor group 26, and controlling the throttle ACT 36, the brake ACT 38, and the steering ACT 40. An example of the automatic driving process is ACC that drives the host vehicle to follow the preceding vehicle recognized by the camera unit 24.

[0040] The display control ECU 42 includes a CPU 44, a memory 46 such as a ROM and a RAM, a non-volatile storage unit 48 such as an HDD and an SSD, and a communication I / F 50. The CPU 44, the memory 46, the storage unit 48, and the communication I / F 50 are communicably connected to each other via an internal bus 52. A display control program 54 is stored in the storage unit 48. The display control ECU 42 functions as the display control unit 72 shown in FIG. 2 and performs the display control process described later when the display control program 54 is read from the storage unit 48 and expanded in the memory 46, and the display control program 54 expanded in the memory 46 is executed by the CPU 44.

[0041] The display control ECU 42 is connected to an AR (Augmented Reality)-head-up display (hereinafter referred to as AR-HUD) 56 and a meter display 68. The AR-HUD 56 according to the present embodiment is a small-sized HUD that uses a part of the forward field of view of a user who is an occupant of the host vehicle as a display area (forms an image in the lower part inside the foreground) by reflection on the windshield glass or the like. The meter display 68 is a display provided on the instrument panel of the host vehicle. The display control ECU 42 controls the information display on the AR-HUD 56 and the meter display 68.

[0042] As shown in FIG. 3, the AR-HUD 56 includes a light source unit 58 composed of an LED (Light Emitting Diode) or the like, and a transmissive display unit 60 composed of an LCD (Liquid Crystal Display) or the like is disposed on the light emission side of the light source unit 58. A convex mirror 62 and a concave mirror 64 are sequentially disposed on the light emission side of the display unit 60, and the light transmitted through the display unit 60 is sequentially reflected by the convex mirror 62 and the concave mirror 64 and irradiated onto the windshield of the vehicle. The optical system of the AR-HUD 56 is designed such that an image (such as a follow mark 76 shown in FIG. 6A) displayed on the display unit 60 forms an image on a virtual image plane 66 that floats in the air at a distance L1 to L2 from the user and is inclined with respect to the vertical direction of the vehicle. Thereby, the user can be made to have an illusion as if the image formed on the virtual image plane 66 is superimposed on the road surface in front of the host vehicle.

[0043] Note that the display control ECU 42 is an example of the display control device according to the present disclosure and the display control unit in the present disclosure. Further, the AR-HUD 56 is an example of a display device.

[0044] Next, as the operation of the first embodiment, with reference to FIG. 4, the display control process executed by the display control ECU 42 (display control unit 72) while the ignition switch of the host vehicle is on will be described.

[0045] In step 100, the display control unit 72 inquires of the ADAS-ECU 34 whether ACC is being executed, and based on the result of the inquiry, determines whether ACC is being executed by the ADAS-ECU 34. If the determination in step 100 is negative, step 100 is repeated until the determination is affirmative. If the determination in step 100 is affirmative, the process proceeds to step 102.

[0046] In step 102, the display control unit 72 acquires the position information of the preceding vehicle that is performing follow-up control by ACC from the preceding vehicle detection unit 70 of the camera unit 24. In step 104, the display control unit 72 calculates the amount of change d (for example, Euclidean distance) in the position of the preceding vehicle represented by the position information acquired in step 102 with respect to the reference position stored in the memory 46 or the like. Note that the reference position is initially set to the position of the preceding vehicle represented by the position information acquired in step 102 at the first execution of the display control process.

[0047] In the present embodiment, an aspect of calculating the amount of change d in the position of the preceding vehicle from the position coordinates of the preceding vehicle represented by the position information will be described. However, the display control unit 72 performs a process of converting the position coordinates of the preceding vehicle into the angle of the emitted light from the AR-HUD 56 and converting the obtained angle into the coordinates of the display position on the display unit 60 of the AR-HUD 56. For this reason, the amount of change d in the position of the preceding vehicle and the thresholds TH1 and TH2 described later may be defined by the angle of the emitted light from the AR-HUD 56 or by the coordinates of the display position on the display unit 60.

[0048] Also, as shown in FIG. 5 as an example, in this embodiment, the relationship between the distance L and the allowable amount of positional deviation of the following mark 76 is preset so that the allowable amount of positional deviation of the following mark 76 decreases as the distance L from the preceding vehicle increases. Note that the relationship shown in FIG. 5 can be obtained, for example, by conducting an experiment described later. In step 106, the display control unit 72 calculates a first threshold value TH1 corresponding to the distance L from the preceding vehicle included in the position information acquired from the preceding vehicle detection unit 70 based on the relationship between the distance L and the allowable amount of positional deviation.

[0049] In step 108, the display control unit 72 determines whether or not the moving average value of the amount of position change d calculated in step 104 exceeds the first threshold value TH1 calculated in step 106. If the determination in step 108 is negative, the process proceeds to step 110. In step 110, the display control unit 72 determines whether or not the amount of position change d calculated in step 104 exceeds a second threshold value TH2. The second threshold value TH2 is preset so that the second threshold value TH2 < the first threshold value TH1.

[0050] If the determinations in steps 108 and 110 are each negative, the process proceeds to step 112. Then, in step 112, the display control unit 72 sets, as the display position of the following mark 76 on the AR-HUD 56, a position corresponding to the position of the preceding vehicle represented by the position information acquired in step 102 (for example, a position corresponding to the lower end of the preceding vehicle). When the process of step 112 is performed, the process proceeds to step 116. In step 116, the display control unit 72 sets the display position of the following mark 76 as the reference position. Then, in step 120, the display control unit 72 causes the following mark 76 to be displayed at the display position set in step 112.

[0051] As described above, when the amount of change d in the position of the preceding vehicle represented by the position information is equal to or less than the second threshold value TH2 (in this case, the second threshold value TH2 is an example of a first predetermined value), the following mark 76 is displayed at a position corresponding to the position of the preceding vehicle represented by the position information within the display area of the AR-HUD 56.

[0052] Also, if the determination in step 110 is affirmative, the process proceeds to step 114. In step 114, the display control unit 72 sets, as the display position of the follow mark 76 on the AR-HUD 56, a position within the second threshold value TH2 from the reference position. After performing the process of step 114, the process proceeds to step 116. In step 116, the display control unit 72 sets the display position of the follow mark 76 to the reference position. Then, in step 120, the display control unit 72 causes the follow mark 76 to be displayed at the display position set in step 114.

[0053] In this way, when the change amount d of the position of the preceding vehicle represented by the position information satisfies the second threshold value TH2 < change amount d ≤ the first threshold value TH1, the movement amount of the display position of the follow mark 76 on the display area of the AR-HUD 56 is restricted within the second threshold value TH2. Thereby, even when the position information input from the preceding vehicle detection unit 70 fluctuates as shown in period A in FIG. 7, for example, the follow mark 76 is suppressed from changing in a vibrating manner on the display area of the AR-HUD 56. Note that the second threshold value TH2 in the above process is an example of the second predetermined value and the upper limit value in the present disclosure.

[0054] On the other hand, if the determination in step 108 is affirmative, the process proceeds to step 118. In step 118, the display control unit 72 sets the current position of the follow mark 76 as the display position of the follow mark 76 on the AR-HUD 56. After performing the process of step 110, the process proceeds to step 120. In step 120, the display control unit 72 causes the follow mark 76 to be displayed at the display position set in step 118. Then, after performing the process of step 120, the process returns to step 100.

[0055] As described above, when the change amount d of the position of the preceding vehicle represented by the position information satisfies d > the first threshold value TH1, the movement amount of the display position of the follow mark 76 on the display area of the AR-HUD 56 is set to 0. Thereby, even when the position information input from the preceding vehicle detection unit 70 indicates a value in which the preceding vehicle is lost, such as in the period B shown in FIG. 7, the follow mark 76 is displayed at a position greatly separated from the position corresponding to the preceding vehicle on the display area of the AR-HUD 56. This is suppressed. Note that the first threshold value TH2 in the above processing is an example of a second predetermined value.

[0056] Also, when d > the first threshold value TH1, the reference position is not updated. Therefore, when the state where d > the first threshold value TH1 continues, the display position of the follow mark 76 is determined based on the position information detected before the timing when d > the first threshold value TH1. Thereby, even when the state where d > the first threshold value TH1 continues, the follow mark 76 can be displayed at an appropriate position.

[0057] As described above, in the first embodiment, the display control unit 72 (display control ECU 42) receives the position information representing the position of the preceding vehicle from the preceding vehicle detection unit 70. When the change amount of the position of the preceding vehicle or the physical quantity obtained from the change amount is less than or equal to the first predetermined value, the follow mark 76 is displayed at the position corresponding to the position of the preceding vehicle represented by the position information within the display area of the AR-HUD 56. On the other hand, when the change amount of the position of the preceding vehicle or the physical quantity obtained from the change amount exceeds the first predetermined value and exceeds the second predetermined value, the movement of the display position of the follow mark 76 within the display area of the AR-HUD 56 is restricted. Thereby, when the accuracy of detecting the position of the preceding vehicle decreases, it is suppressed that the follow mark 76 is displayed at a position greatly separated from the position corresponding to the preceding vehicle, or the display position of the follow mark 76 changes vibrantly, and it is suppressed that the passenger feels uncomfortable.

[0058] Also, in the first embodiment, when the average or standard deviation of the change amount, which is a physical quantity obtained from the change amount of the position of the preceding vehicle, exceeds the first threshold value TH1 as the second predetermined value, the display control unit 72 stops the movement of the display position of the follow mark 76. Thereby, when the accuracy of the position detection of the preceding vehicle decreases, it is possible to suppress the follow mark 76 from being displayed at a position greatly separated from the position corresponding to the preceding vehicle.

[0059] Also, in the first embodiment, when the distance L from the preceding vehicle is equal to or greater than a predetermined distance, the display control unit 72 makes the first threshold value TH1 smaller than when the distance L from the preceding vehicle is less than the predetermined distance. Thereby, it is possible to reduce the amount of displacement of the display position of the follow mark 76 when the distance L from the preceding vehicle is relatively large, and it is possible to more surely suppress giving a sense of discomfort to the occupant when the distance L from the preceding vehicle is relatively large.

[0060] Also, in the first embodiment, when the change amount of the position of the preceding vehicle exceeds the second threshold value TH2 as the second predetermined value, the display control unit 72 makes the movement amount of the display position of the follow mark 76 equal to or less than a preset upper limit value. Thereby, when the accuracy of the position detection of the preceding vehicle decreases, it is possible to suppress the display position of the follow mark 76 from changing in a vibrating manner.

[0061] Also, in the first embodiment, when the change amount of the position of the preceding vehicle or the physical quantity obtained from the change amount exceeds the second predetermined value, the display control unit 72 determines the display position of the follow mark 76 based on the position information detected before the timing when the change amount or the physical quantity exceeds the second predetermined value. Thereby, even when the change amount or the physical quantity continues to exceed the second predetermined value, the follow mark 76 can be displayed at an appropriate position.

[0062] In the first embodiment, the AR-HUD 56 is applied as the display device in the present disclosure. Thereby, in the aspect of displaying the tracking mark 76 in the display area of the AR-HUD 56, it is possible to suppress giving a sense of discomfort to the occupant when the accuracy of detecting the position of the preceding vehicle decreases.

[0063] In the first embodiment, the preceding vehicle is a preceding vehicle in which follow-up control is performed by ACC. Thereby, it is possible to make the occupant recognize the preceding vehicle in which follow-up control is performed by ACC, and to suppress giving a sense of uneasiness or the like to the occupant regarding the accuracy of ACC.

[0064] 〔Second Embodiment〕 Next, a second embodiment of the present disclosure will be described. Since the second embodiment has the same configuration as the first embodiment, the same reference numerals are given to each part and the description of the configuration is omitted. Hereinafter, the display control process according to the second embodiment will be described with reference to FIG. 8. In the second embodiment, the vehicle width direction is referred to as the x direction, and the vehicle up-and-down direction is referred to as the y direction.

[0065] In the display control process according to the second embodiment, when the position information of the preceding vehicle is acquired in step 102, the process proceeds to step 122. In step 122, the display control unit 72 calculates a change amount dx in the x direction of the position of the preceding vehicle represented by the position information acquired in step 102 with respect to the reference position. In step 124, the display control unit 72 calculates a first threshold value THx1 in the x direction and a first threshold value THy1 in the y direction as first threshold values corresponding to the distance L to the preceding vehicle based on the relationship between the distance L and the amount of positional deviation (see FIG. 5).

[0066] In step 126, the display control unit 72 determines whether the moving average value of the amount of position change dx in the x direction calculated in step 122 exceeds the first threshold value THx1 in the x direction calculated in step 124. If the determination in step 126 is negative, the process proceeds to step 128. In step 128, the display control unit 72 determines whether the amount of position change dx in the x direction calculated in step 122 exceeds the second threshold value THx2 in the x direction. Note that the second threshold value THx2 is preset so that the second threshold value THx2 in the x direction < the first threshold value THx1 in the x direction.

[0067] If the determinations in steps 126 and 128 are each negative, the process proceeds to step 130. Then in step 130, the display control unit 72 sets, as the display position in the x direction of the follow mark 76 on the AR - HUD 56, the position in the x direction corresponding to the position of the preceding vehicle represented by the position information acquired in step 102. After performing the process of step 130, the process proceeds to step 134. In step 134, the display control unit 72 sets the display position in the x direction of the follow mark 76 to the reference position in the x direction.

[0068] If the determination in step 128 is affirmative, the process proceeds to step 132. In step 114, the display control unit 72 sets, as the display position in the x direction of the follow mark 76 on the AR - HUD 56, a position within the second threshold value THx2 in the x direction from the reference position in the x direction. After performing the process of step 132, the process proceeds to step 134. In step 134, the display control unit 72 sets the display position in the x direction of the follow mark 76 to the reference position in the x direction.

[0069] On the other hand, if the determination in step 126 is affirmative, the process proceeds to step 136. In step 136, the display control unit 72 sets, as the display position in the x direction of the follow mark 76 on the AR - HUD 56, the current position of the follow mark 76 in the x direction. After performing the process of step 136, the process proceeds to step 138.

[0070] In step 138, the display control unit 72 calculates a change amount dy in the y direction of the position of the preceding vehicle represented by the position information acquired in step 102 with respect to the reference position. In step 140, the display control unit 72 determines whether or not the moving average value of the position change amount dy in the y direction calculated in step 122 exceeds the first threshold value THy1 in the y direction calculated in step 124.

[0071] If the determination in step 140 is negative, the process proceeds to step 142. In step 142, the display control unit 72 determines whether or not the position change amount dy in the y direction calculated in step 138 exceeds the second threshold value THy2 in the y direction. Note that the second threshold value THy2 is set in advance such that the second threshold value THy2 in the y direction < the first threshold value THy1 in the y direction.

[0072] If the determinations in steps 140 and 142 are each negative, the process proceeds to step 144. Then, in step 144, the display control unit 72 sets, as the display position in the y direction of the follow mark 76 on the AR-HUD 56, the position in the y direction corresponding to the position of the preceding vehicle represented by the position information acquired in step 102. After performing the process of step 144, the process proceeds to step 148. In step 148, the display control unit 72 sets the display position in the y direction of the follow mark 76 to the reference position in the y direction.

[0073] Also, if the determination in step 142 is affirmative, the process proceeds to step 146. In step 146, the display control unit 72 sets, as the display position in the y direction of the follow mark 76 on the AR-HUD 56, a position within the second threshold value THy2 in the y direction from the reference position in the y direction. After performing the process of step 146, the process proceeds to step 148. In step 148, the display control unit 72 sets the display position in the y direction of the follow mark 76 to the reference position in the y direction.

[0074] On the other hand, if the determination in step 140 is affirmative, the process proceeds to step 150. In step 150, the display control unit 72 sets the current position of the tracking mark 76 in the y direction as the display position of the tracking mark 76 in the y direction on the AR-HUD 56. After performing the process of step 150, the process proceeds to step 152.

[0075] In step 152, the display control unit 72 causes the tracking mark 76 to be displayed at a position corresponding to the display position in the x direction set in step 130 or 134 or 136 and the display position in the y direction set in step 144 or 146 or 150. After performing the process of step 152, the process returns to step 100.

[0076] When the tracking mark 76 is displayed at a position corresponding to the preceding vehicle, it is possible that the allowable amount of position deviation of the tracking mark 76 differs between the x direction and the y direction. In contrast, in the second embodiment, a first predetermined value (second threshold value) and a second predetermined value (first threshold value) are set separately for the x direction and the y direction, and it is determined for each of the x direction and the y direction whether the amount of position change dx or its moving average value is less than or equal to the first predetermined value or exceeds the second predetermined value. Thereby, even when the allowable amount of position deviation of the tracking mark 76 differs between the x direction and the y direction, the tracking mark 76 can be displayed at an appropriate position for each of the x direction and the y direction.

[0077] Note that, in the above embodiment, an example in which a mode of stopping the movement of the tracking mark 76 when the moving average of the amount of position change d exceeds a first threshold value (an example of the second predetermined value) and a mode of restricting the amount of movement of the mark when the amount of position change d exceeds a second threshold value (an example of the second predetermined value) are combined has been described. However, the above two modes can also be implemented separately, and in this case, for example, the first predetermined value = the second predetermined value may be set.

[0078] Also, in the above embodiment, a mode using a moving average as an example of a physical quantity obtained from the amount of change in the position of the object has been described, but the present disclosure is not limited to this, and a standard deviation or the like may be used instead of the moving average.

[0079] In the above-described embodiment, as an example of the object in the present disclosure, a mode in which a preceding vehicle performing follow-up control by ACC is applied has been described. However, the object in the present disclosure is not limited to the preceding vehicle, and may be, for example, a pedestrian or the like.

[0080] Furthermore, in the above-described embodiment, a mode in which a follow-up mark 76 or the like is displayed at a position corresponding to an object included in the foreground of the vehicle visually recognized through the display area of the AR-HUD 56 has been described. However, the present disclosure is not limited thereto. For example, the AR-HUD 56 may be configured to display an image simulating the foreground of the host vehicle in the display area of the AR-HUD 56, and a follow-up mark 76 or the like may be displayed at a position corresponding to an object included in the image simulating the foreground of the host vehicle.

[0081] Also, the mark in the present disclosure is not limited to the bar-shaped follow-up mark 76 shown in FIGS. 6A and 6B. For example, a mountain-shaped mark 78, a flat mark 80, or other shaped marks shown in FIG. 9 or the like may be applied.

[0082] In the above-described embodiment, a mode in which the AR-HUD 56 is applied as an example of the display device in the present disclosure has been described. However, the present disclosure is not limited thereto, and the display device in the present disclosure may be a meter display 68.

[0083] Furthermore, in the above, a mode in which the display control program 54, which is an example of the display control program according to the present disclosure, is pre-stored (installed) in the storage unit 48 has been described. However, the display control program according to the present disclosure can also be provided in a form recorded on a non-transitory recording medium such as an HDD, an SSD, or a DVD.

[0084] Regarding the above embodiments, the following additional remarks are further disclosed.

[0085] (Supplementary Note 1) When the amount of change in the position of the object represented by the position information output from the detection unit that detects the object or a physical quantity obtained from the amount of change is equal to or less than a first predetermined value, a mark is displayed at a position corresponding to the position of the object represented by the position information within the display area of the display device. When the amount of change or the physical quantity exceeds a second predetermined value that is equal to or greater than the first predetermined value, a display control device including a display control unit that restricts the movement of the display position of the mark within the display area of the display device.

[0086] (Appendix 2) The display control unit according to Appendix 1, which stops the movement of the display position of the mark when the average or standard deviation of the amount of change as the physical quantity exceeds a first threshold value as the second predetermined value.

[0087] (Appendix 3) The display control device according to Appendix 2, wherein when the distance from the object is equal to or greater than a predetermined distance, the second predetermined value is made smaller than when the distance from the object is less than the predetermined distance.

[0088] (Appendix 4) The display control device according to any one of Appendices 1 to 3, wherein when the amount of change exceeds a second threshold value as the second predetermined value, the amount of movement of the display position of the mark is made equal to or less than a preset upper limit value.

[0089] (Appendix 5) The display control device according to any one of Appendices 1 to 4, wherein when the amount of change or the physical quantity exceeds the second predetermined value, the display position of the mark is determined based on the position information detected before the timing when the amount of change or the physical quantity exceeds the second predetermined value.

[0090] (Appendix 6) The first predetermined value and the second predetermined value are set separately in the vehicle width direction and the vehicle vertical direction. When the change amount or the physical quantity in the vehicle width direction is less than or equal to a first predetermined value in the vehicle width direction, the display control unit sets the display position of the mark in the vehicle width direction to a position corresponding to the position of the object in the vehicle width direction represented by the position information. When the change amount or the physical quantity in the vehicle width direction exceeds a second predetermined value in the vehicle width direction, the display position of the mark in the vehicle width direction is set so that the movement of the mark in the vehicle width direction within the display area of the display device is restricted. When the change amount or the physical quantity in the vehicle vertical direction is less than or equal to a first predetermined value in the vehicle vertical direction, the display position of the mark in the vehicle vertical direction is set to a position corresponding to the position of the object in the vehicle vertical direction represented by the position information. When the change amount or the physical quantity in the vehicle vertical direction exceeds a second predetermined value in the vehicle vertical direction, the display position of the mark in the vehicle vertical direction is set so that the movement of the mark in the vehicle vertical direction within the display area of the display device is restricted. The display control device according to any one of Appendices 1 to 5.

[0091] (Appendix 7) The display device is a head-up display. The display control device according to any one of Appendices 1 to 6.

[0092] (Appendix 8) The object is a preceding vehicle whose follow-up control is performed by adaptive cruise control. The display control device according to any one of Appendices 1 to 7.

[0093] (Appendix 9) When the amount of change in the position of the object represented by the position information output from the detection unit for detecting the object or the physical quantity obtained from the amount of change is equal to or less than a first predetermined value, a mark is displayed at a position corresponding to the position of the object represented by the position information within the display area of the display device. When the amount of change or the physical quantity exceeds a second predetermined value that is equal to or greater than the first predetermined value, the computer is caused to execute a process including restricting the movement of the display position of the mark within the display area of the display device. A display control method.

[0094] (Appendix 10) The display control method according to Appendix 9, wherein when the average or standard deviation of the amount of change as the physical quantity exceeds a first threshold value as the second predetermined value, the movement of the display position of the mark is stopped.

[0095] (Appendix 11) The display control method according to Appendix 10, wherein when the distance from the object is equal to or greater than a predetermined distance, the second predetermined value is made smaller than when the distance from the object is less than the predetermined distance.

[0096] (Appendix 12) The display control method according to any one of Appendices 9 to 11, wherein when the amount of change exceeds a second threshold value as the second predetermined value, the amount of movement of the display position of the mark is made equal to or less than a preset upper limit value.

[0097] (Appendix 13) The display control method according to any one of Appendices 9 to 12, wherein when the amount of change or the physical quantity exceeds the second predetermined value, the display position of the mark is determined based on the position information detected before the timing when the amount of change or the physical quantity exceeds the second predetermined value.

[0098] (Appendix 14) The first predetermined value and the second predetermined value are set separately in the vehicle width direction and the vehicle vertical direction. When the change amount or the physical quantity in the vehicle width direction is equal to or less than a first predetermined value in the vehicle width direction, set the display position of the mark in the vehicle width direction to a position corresponding to the position of the object in the vehicle width direction represented by the position information. When the change amount or the physical quantity in the vehicle width direction exceeds a second predetermined value in the vehicle width direction, set the display position of the mark in the vehicle width direction so that the movement of the display position of the mark in the vehicle width direction within the display area of the display device is restricted. When the change amount or the physical quantity in the vehicle vertical direction is equal to or less than a first predetermined value in the vehicle vertical direction, set the display position of the mark in the vehicle vertical direction to a position corresponding to the position of the object in the vehicle vertical direction represented by the position information. When the change amount or the physical quantity in the vehicle vertical direction exceeds a second predetermined value in the vehicle vertical direction, set the display position of the mark in the vehicle vertical direction so that the movement of the display position of the mark in the vehicle vertical direction within the display area of the display device is restricted. The display control method according to any one of Appendices 9 to 13.

[0099] (Appendix!5) The display device is a head-up display. The display control method according to any one of Appendices 9 to 14.

[0100] (Appendix 16) The object is a preceding vehicle whose follow-up control is performed by adaptive cruise control. The display control method according to any one of Appendices 9 to 15.

[0101] (Appendix 17) To a computer, When the amount of change in the position of the object represented by the position information output from the detection unit for detecting the object or the physical quantity obtained from the amount of change is equal to or less than a first predetermined value, a mark is displayed at the position corresponding to the position of the object represented by the position information within the display area of the display device. When the amount of change or the physical quantity exceeds a second predetermined value that is equal to or greater than the first predetermined value, a process including restricting the movement of the display position of the mark within the display area of the display device is executed. A display control program for this purpose.

[0102] (Appendix 18) The display control program according to Appendix 17, wherein when the average or standard deviation of the amount of change as the physical quantity exceeds a first threshold value as the second predetermined value, the movement of the display position of the mark is stopped.

[0103] (Appendix 19) The display control program according to Appendix 18, wherein when the distance from the object is equal to or greater than a predetermined distance, the second predetermined value is made smaller than when the distance from the object is less than the predetermined distance.

[0104] (Appendix 20) The display control program according to any one of Appendices 17 to 19, wherein when the amount of change exceeds a second threshold value as the second predetermined value, the amount of movement of the display position of the mark is made equal to or less than a preset upper limit value.

[0105] (Appendix 21) The display control program according to any one of Appendices 17 to 20, wherein when the amount of change or the physical quantity exceeds the second predetermined value, the display position of the mark is determined based on the position information detected before the timing when the amount of change or the physical quantity exceeds the second predetermined value.

[0106] (Appendix 22) The first predetermined value and the second predetermined value are set separately in the vehicle width direction and the vehicle vertical direction, When the amount of change or the physical quantity in the vehicle width direction is equal to or less than a first predetermined value in the vehicle width direction, set the display position of the mark in the vehicle width direction to a position corresponding to the position of the object in the vehicle width direction represented by the position information. When the amount of change or the physical quantity in the vehicle width direction exceeds a second predetermined value in the vehicle width direction, set the display position of the mark in the vehicle width direction so that the movement of the display position of the mark in the vehicle width direction within the display area of the display device is restricted. When the amount of change or the physical quantity in the vehicle vertical direction is equal to or less than a first predetermined value in the vehicle vertical direction, set the display position of the mark in the vehicle vertical direction to a position corresponding to the position of the object in the vehicle vertical direction represented by the position information. When the amount of change or the physical quantity in the vehicle vertical direction exceeds a second predetermined value in the vehicle vertical direction, set the display position of the mark in the vehicle vertical direction so that the movement of the display position of the mark in the vehicle vertical direction within the display area of the display device is restricted. A display control program according to any one of Appendices 17 to 21.

[0107] (Appendix 23) The display device is a head-up display. A display control program according to any one of Appendices 17 to 22.

[0108] (Appendix 24) The object is a preceding vehicle whose follow-up control is performed by adaptive cruise control. A display control method according to any one of Appendices 17 to 23.

Example

[0109] The experiments conducted by the inventor of the present application will be described below. In this experiment, as shown in FIG. 9, the host vehicle in which the subject rides was placed on the test road, and a preceding vehicle was placed on the test road in front of the host vehicle. Further, by means of the AR-HUD 56 of the host vehicle, a following mark was superimposed and displayed at a position approximately corresponding to the preceding vehicle in the foreground of the host vehicle. Note that, as the following mark to be superimposed and displayed, the mountain-shaped mark 78 and the flat mark 80 shown in FIG. 9 were each used. Then, while moving the position of the preceding vehicle in the range of 30 to 100 m in front of the host vehicle, the display position of the following mark was changed in the vertical direction of the vehicle, and a plurality of subjects were each asked to evaluate whether or not they recognized the displacement of the following mark at each display position.

[0110] As an experimental result, FIG. 10A shows the allowable displacement amount at a distance L = 100 m between the host vehicle and the preceding vehicle when the mountain-shaped mark 78 is used as the following mark. Further, FIG. 10B shows the allowable displacement amount at a distance L = 100 m between the host vehicle and the preceding vehicle when the flat mark 80 is used as the following mark. As shown in FIGS. 10A and 10B, from this experiment, it became clear that in the upward direction among the vertical directions of the vehicle, the flat mark 80 has a larger allowable displacement amount than the mountain-shaped mark 78, and in the downward direction, the mountain-shaped mark 78 has a larger allowable displacement amount than the flat mark 80.

[0111] Further, FIG. 5 shows the relationship between the distance L between the host vehicle and the preceding vehicle and the allowable displacement amount of the following mark when the mountain-shaped mark 78 is used. From this result, it became clear that when a mark is displayed at a position corresponding to the position of an object such as a preceding vehicle, the allowable displacement amount of the mark decreases as the distance from the object increases.

Explanation of Signs

[0112] 10 Vehicle-mounted system 24 Camera unit 34 ADAS-ECU 42 Display control ECU (display control device) 54 Display control program 56 AR-HUD 68 Meter display 70 Leading vehicle detection unit 72 Display control unit 74 Leading vehicle 76 Follow mark

Claims

1. When the amount of change in the position of the object represented by the position information output from the detection unit for detecting the object or the physical quantity obtained from the amount of change is equal to or less than a first predetermined value, a mark is displayed at a position corresponding to the position of the object represented by the position information within the display area of the display device. When the amount of change or the physical quantity exceeds a second predetermined value that is equal to or greater than the first predetermined value, a display control device including a display control unit that restricts movement of the display position of the mark within the display area of the display device.

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

3. The display control device according to claim 2, wherein the display control unit makes the second predetermined value smaller when the distance from the object is equal to or greater than a predetermined distance than when the distance from the object is less than the predetermined distance.

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

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

6. The first predetermined value and the second predetermined value are set separately in the vehicle width direction and the vehicle vertical direction. When the change amount or the physical quantity in the vehicle width direction is less than or equal to a first predetermined value in the vehicle width direction, the display control unit sets the display position of the mark in the vehicle width direction to a position corresponding to the position of the object in the vehicle width direction represented by the position information. When the change amount or the physical quantity in the vehicle width direction exceeds a second predetermined value in the vehicle width direction, the display position of the mark in the vehicle width direction is set so that the movement of the mark in the vehicle width direction within the display area of the display device is restricted. When the change amount or the physical quantity in the vehicle vertical direction is less than or equal to a first predetermined value in the vehicle vertical direction, the display position of the mark in the vehicle vertical direction is set to a position corresponding to the position of the object in the vehicle vertical direction represented by the position information. When the change amount or the physical quantity in the vehicle vertical direction exceeds a second predetermined value in the vehicle vertical direction, the display position of the mark in the vehicle vertical direction is set so that the movement of the mark in the vehicle vertical direction within the display area of the display device is restricted. The display control device according to claim 1.

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

8. The display control device according to claim 1, wherein the object is a preceding vehicle whose follow-up control is performed by adaptive cruise control.

9. A display control method for causing a computer to execute a process including displaying a mark at a position corresponding to the position of an object represented by position information within a display area of a display device when a change amount of the position of the object represented by the position information output from a detection unit that detects the object or a physical quantity obtained from the change amount is less than or equal to a first predetermined value, and restricting the movement of the display position of the mark within the display area of the display device when the change amount or the physical quantity exceeds a second predetermined value that is greater than or equal to the first predetermined value.

10. To the computer When the amount of change in the position of the object represented by the position information output from the detection unit for detecting the object or a physical quantity obtained from the amount of change is equal to or less than a first predetermined value, a mark is displayed at a position corresponding to the position of the object represented by the position information within the display area of the display device. When the amount of change or the physical quantity exceeds a second predetermined value that is equal to or greater than the first predetermined value, a display control program for executing a process including restricting the movement of the display position of the mark within the display area of the display device.

Images