Display control device, method and program

Abstract

To inhibit offset in the position of a marker relative to an object from being clearly perceived.SOLUTION: A display control unit causes a marker 100 to be displayed in a display area 74 of an augmented reality head-up display (AR-HUD) at a position corresponding to an image 90 of a target object (preceding vehicle) included in a forward view of a vehicle seen through the display region 74 of the AR-HUD, in which the marker has a width in both vehicle vertical and width directions and outer shapes of its vehicle width direction outer edges are not parallel to a vehicle vertical direction.SELECTED DRAWING: Figure 6A

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 for displaying a marker on a HUD (Head Up Display) so as to overlap with a preceding vehicle when following the preceding vehicle in front of the vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a marker is displayed at a position corresponding to an object such as a preceding vehicle, the accuracy of detecting the position of the object varies depending on, for example, the color of the object or the distance from the object. Therefore, the marker may be displayed at a position shifted from the object. At this time, the degree to which the position shift of the marker is recognized by the user differs depending on the shape of the marker, and depending on the shape of the marker, there is a possibility that the position shift of the marker may be clearly recognized by the user.

[0005] The present disclosure has been made in consideration of the above facts, and an object thereof is to obtain a display control device, a display control method, and a display control program capable of suppressing the clear recognition of the position shift of the marker with respect to the object.

Means for Solving the Problems

[0006] The display control device according to the first aspect is composed of a plurality of partial images arranged at intervals in the vehicle width direction, and a marker whose side along the longitudinal direction of the partial image is non-parallel to the vehicle vertical direction is displayed at a position corresponding to an object included in a foreground image of a vehicle that is visually recognized through the display area of the display device or an image simulating the foreground image of the vehicle displayed in the display area of the display device, in the display area of the display device. It includes a display control unit.

[0007] In the first aspect, the marker to be displayed at a position corresponding to an object included in the foreground image of the vehicle or an image simulating the foreground image of the vehicle is composed of a plurality of partial images arranged at intervals in the vehicle width direction, and the side along the longitudinal direction of the partial image is configured to be non-parallel to the vehicle vertical direction. As a result, the marker will have a plurality of edges with different positions in the vehicle width direction on the end side in the vehicle width direction. And when these edges with different positions in the vehicle width direction are each interpreted as a reference point in the user's marker recognition, it becomes difficult for the user to recognize the accurate amount of positional deviation of the marker with respect to the object. Also, since the marker is configured such that a plurality of partial images are arranged at intervals in the vehicle width direction, it becomes difficult for the central portion in the vehicle width direction of the marker, etc., to be interpreted as a reference point in the user's marker recognition. Therefore, according to the first aspect, it is possible to suppress the clear recognition of the positional deviation of the marker with respect to the object.

[0008] The display control device according to the second aspect includes a display control unit that displays, at a position corresponding to an object included in a foreground image of a vehicle that is visually recognized through the display area of the display device or an image simulating the foreground image of the vehicle displayed in the display area of the display device, a marker having a polygonal shape with a short side, where the short side is located on the end side in the vehicle width direction and is non-parallel to the vehicle vertical direction, in the display area of the display device.

[0009] In a second aspect, a marker to be displayed at a position corresponding to an object included in an image simulating the front view of a vehicle or the front view of the vehicle has a polygonal shape with a short side, and the short side is located on the end side in the vehicle width direction and is non-parallel to the vehicle vertical direction. As a result, the marker, like the marker according to the first aspect, has a plurality of edges with different positions in the vehicle width direction on the end side in the vehicle width direction. And when each of these edges with different positions in the vehicle width direction is interpreted as a reference point in marker recognition by the user, it becomes difficult for the user to recognize the accurate amount of positional deviation of the marker with respect to the object. Therefore, according to the second aspect, similar to the first aspect, it is possible to suppress the clear recognition of the positional deviation of the marker with respect to the object. Note that in the first aspect and the second aspect, the position corresponding to the object may be a position overlapping the object, a position adjacent to the object, or a position separated from the object by an interval less than a predetermined value.

[0010] A third aspect is that in the first aspect, the partial images are arranged at equal intervals in the vehicle width direction.

[0011] When there is density difference in the arrangement of the partial images, a plurality of partial images corresponding to a portion with a small interval (a portion with a dense arrangement) are likely to be recognized as a single image in marker recognition by the user. And the end portion or the central portion in the vehicle width direction of the plurality of partial images recognized as a single image is likely to be interpreted as a reference point in marker recognition by the user. In contrast, in the third aspect, since the partial images are arranged at equal intervals in the vehicle width direction, it is possible to more effectively suppress the clear recognition of the positional deviation of the marker with respect to the object compared to the case where there is density difference in the arrangement of the partial images.

[0012] A fourth aspect is that in the first aspect, the partial image has a shape in which one of the upper end portion and the lower end portion in the vehicle vertical direction is parallel to the vehicle width direction and the other is parallel to the vehicle vertical direction.

[0013] In the fourth aspect, for the portions parallel to the vehicle width direction among the upper and lower ends in the vehicle up-and-down direction, it becomes difficult to set a reference point for the positional deviation in the vehicle width direction in the marker recognition by the user. Also, for the portions parallel to the vehicle up-and-down direction among the upper and lower ends, it becomes difficult to set a reference point for the positional deviation in the vehicle up-and-down direction in the marker recognition by the user. As a result, it is possible to suppress the clear recognition of the positional deviation of the marker in the vehicle width direction and the vehicle up-and-down direction with respect to the object.

[0014] Note that "parallel" in the fourth aspect includes a state in which an angular difference equal to or less than a predetermined value recognized as parallel in the marker recognition by the user occurs with respect to "geometric parallel".

[0015] The fifth aspect is the first aspect or the second aspect, in which the marker is asymmetric in the vehicle width direction.

[0016] When the marker is asymmetric in the vehicle width direction, compared with the case where the marker is symmetric in the vehicle width direction, it becomes difficult to interpret the central portion in the vehicle width direction of the marker as a reference point in the marker recognition by the user. Therefore, according to the fifth aspect, it is possible to further suppress the clear recognition of the positional deviation of the marker with respect to the object.

[0017] The sixth aspect is the first aspect or the second aspect, in which the display control unit acquires the reliability regarding the recognition of the position of the object, and changes the display mode of the marker based on the acquired reliability.

[0018] In the sixth aspect, since the display mode of the marker is changed based on the reliability regarding the recognition of the position of the object, it is possible to make the user recognize the reliability regarding the recognition of the position of the object.

[0019] In the seventh aspect, in the sixth aspect, the display control unit acquires the reliability in the vehicle up-and-down direction regarding the recognition of the position of the object, and based on the acquired reliability in the vehicle up-and-down direction, as a change in the display mode of the marker, changes the width of the marker in the vehicle up-and-down direction.

[0020] According to the seventh aspect, by a simple change in the display mode of changing the width of the marker in the vehicle up-and-down direction, the user can recognize the reliability in the vehicle up-and-down direction regarding the recognition of the position of the object.

[0021] In the eighth aspect, in the seventh aspect, the display control unit increases the width of the marker in the vehicle up-and-down direction as the acquired reliability in the vehicle up-and-down direction decreases.

[0022] According to the eighth aspect, the user can intuitively recognize the reliability in the vehicle up-and-down direction regarding the recognition of the position of the object. Also, by increasing the width of the marker in the vehicle up-and-down direction as the reliability in the vehicle up-and-down direction regarding the recognition of the position of the object decreases, it is possible to suppress the clear recognition of the displacement of the position of the marker with respect to the object when the reliability in the vehicle up-and-down direction regarding the recognition of the position of the object is low.

[0023] In the ninth aspect, in the sixth aspect, the display control unit acquires the reliability in the vehicle width direction regarding the recognition of the position of the object, and based on the acquired reliability in the vehicle width direction, as a change in the display mode of the marker, changes the shading of the color of the marker in the vehicle width direction.

[0024] According to the ninth aspect, by a simple change in the display mode of changing the shading of the color of the marker in the vehicle width direction, the user can recognize the reliability in the vehicle width direction regarding the recognition of the position of the object.

[0025] In the tenth aspect, in the ninth aspect, the display control unit increases the length along the vehicle width direction of the light-colored portion with a light color of the marker as the acquired reliability in the vehicle width direction decreases.

[0026] According to the tenth aspect, it is possible to intuitively make the user recognize the reliability in the vehicle width direction regarding the recognition of the position of the object.

[0027] In the eleventh aspect, in the first aspect, the marker has a plurality of partial images arranged at intervals in the vehicle width direction, and the display control unit displays the image of the marker in the display area of the display device after reducing it as the distance between the vehicle and the object increases, and adjusts the interval along the vehicle width direction of the partial images and the number of the partial images so that the interval along the vehicle width direction of the partial images in the reduced image of the marker is larger than the resolution of the eye.

[0028] In the eleventh aspect, the image of the marker is reduced and displayed in the display area of the display device as the distance between the vehicle and the object increases. As a result, as the distance between the vehicle and the object increases, the interval between the partial images becomes smaller, so it becomes easier for the entire marker to be recognized as a single image in the marker recognition by the user. On the other hand, in the eleventh aspect, the interval along the vehicle width direction of the partial images and the number of the partial images are adjusted so that the interval along the vehicle width direction of the partial images in the reduced image of the marker is larger than the resolution of the eye, so that it is suppressed that the entire marker is recognized as a single image. Therefore, according to the eleventh aspect, it is possible to suppress the clear recognition of the positional deviation of the marker with respect to the object even when the distance between the vehicle and the object is large.

[0029] In the twelfth aspect, in the first aspect or the second aspect, the display device is a head-up display.

[0030] According to the twelfth aspect, when the marker is displayed in the display area of the head-up display, it is possible to suppress the clear recognition of the positional deviation of the marker with respect to the object.

[0031] The display control method according to the 13th aspect includes causing a computer to execute a process of displaying, at a position corresponding to an object included in an image simulating a foreground of a vehicle that is visible through the display area of a display device or the foreground of the vehicle displayed in the display area of the display device, a marker that is composed of a plurality of partial images arranged at intervals in the vehicle width direction and has a side along the longitudinal direction of the partial image non-parallel to the vehicle vertical direction.

[0032] According to the 13th aspect, similarly to the 1st aspect, it is possible to suppress clear recognition of the displacement of the marker with respect to the object.

[0033] The display control method according to the 14th aspect includes causing a computer to execute a process of displaying, at a position corresponding to an object included in an image simulating a foreground of a vehicle that is visible through the display area of a display device or the foreground of the vehicle displayed in the display area of the display device, a marker that has a polygonal shape with a short side, the short side being located on the end side in the vehicle width direction and non-parallel to the vehicle vertical direction.

[0034] According to the 14th aspect, similarly to the 2nd aspect, it is possible to suppress clear recognition of the displacement of the marker with respect to the object.

[0035] The display control program according to the 15th aspect causes a computer to execute a process of displaying, at a position corresponding to an object included in an image simulating a foreground of a vehicle that is visible through the display area of a display device or the foreground of the vehicle displayed in the display area of the display device, a marker that is composed of a plurality of partial images arranged at intervals in the vehicle width direction and has a side along the longitudinal direction of the partial image non-parallel to the vehicle vertical direction.

[0036] According to the 15th aspect, similarly to the 1st aspect, it is possible to suppress clear recognition of the displacement of the marker with respect to the object.

[0037] The display control program according to the 16th aspect causes a computer to display, in an image included in the foreground of a vehicle that is visible through the display area of a display device or an object simulating the foreground of the vehicle displayed in the display area of the display device, a marker having a polygonal shape with a short side, the short side being located on the end side in the vehicle width direction and being non-parallel to the vehicle vertical direction, at a position corresponding to the object. This includes executing a process of causing the marker to be displayed at the corresponding position.

[0038] According to the 16th aspect, similarly to the 2nd aspect, it is possible to suppress the clear recognition of the positional deviation of the marker with respect to the object.

Advantages of the Invention

[0039] The present disclosure has an effect of being able to suppress the clear recognition of the positional deviation of the marker with respect to the object.

Brief Description of the Drawings

[0040]

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Mode for Carrying Out the Invention

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

[0042] 〔First Embodiment〕 As shown in FIG. 1, the in-vehicle system 10 according to the present embodiment includes a communication bus 12, and 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 respectively connected to the communication bus 12. Note that FIG. 1 shows only a part of the in-vehicle system 10. In the following, a vehicle equipped with the in-vehicle system 10 is referred to as the host vehicle.

[0043] 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 for acquiring information indicating the situation of the surrounding environment of the host vehicle.

[0044] 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 roadside-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 processing such as displaying the position of the host vehicle on the map or determining and guiding the route to the destination.

[0045] 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, the radar device 22 excludes roadside objects such as noise and guardrails from the monitoring targets based on changes in the relative position and relative speed with respect to individual objects, and outputs information such as the relative position and relative speed with respect to monitoring target objects such as pedestrians and other vehicles.

[0046] The camera unit 24 captures images of 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). A predetermined program for causing the CPU of the camera unit 24 to function as the preceding vehicle detection unit 70 (see FIG. 2) is stored in the storage unit. The preceding vehicle detection unit 70 recognizes the preceding vehicle of the host vehicle shown in the image from the images in front of the host vehicle captured by the 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.

[0047] In addition, the vehicle running state detection sensor group 26 includes a steering angle sensor 28 that detects the steering angle of the host vehicle, a vehicle speed sensor 30 that detects the running speed of the host vehicle, and an acceleration sensor 32 that detects the acceleration applied to the host vehicle, as a plurality of sensors that acquire the running state of the vehicle.

[0048] The ADAS-ECU 34 is connected to a throttle ACT 36 that changes the throttle opening degree of the host vehicle, a brake ACT 38 that changes the braking force generated by the braking device of the host vehicle, and a steering ACT 40 that changes the steering amount by the steering device of the host vehicle, respectively.

[0049] 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 (Inter Face). 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 a driving operation by the occupant of the host vehicle.

[0050] The automatic driving process is a process that determines 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 controls the throttle ACT36, the brake ACT38, and the steering ACT40. An example of the automatic driving process is ACC (Adaptive Cruise Control) that drives the host vehicle to follow the preceding vehicle recognized by the camera unit 24.

[0051] 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. The storage unit 48 stores a display control program 54 and marker image data 55. 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.

[0052] 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 HUD that uses reflection on the windshield or the like to set a part of the forward field of view of the user, who is an occupant of the host vehicle, as a display area 74 (forming an image in the lower part of the foreground) as shown by reference numeral 74 in FIG. 6A 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.

[0053] 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. On the light emission side of the light source unit 58, a transmissive display unit 60 composed of an LCD (Liquid Crystal Display) or the like is arranged. On the light emission side of the display unit 60, a convex mirror 62 and a concave mirror 64 are arranged in sequence. The light transmitted through the display unit 60 is reflected by the convex mirror 62 and the concave mirror 64 in sequence and irradiated onto the vehicle's windshield. The optical system of the AR-HUD 56 is designed such that an image (such as the marker 100 described later) 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 vehicle's vertical direction. Thereby, the user can be made to have the illusion that the image formed on the virtual image plane 66 is superimposed on the road surface in front of the host vehicle.

[0054] Further, the marker image data 55 stored in the storage unit 48 of the display control ECU 42 is data representing the marker 100 shown in FIG. 4. The marker 100 according to the present embodiment has a width in the vehicle's vertical direction and the vehicle's width direction, and the outer shape at the outer edge in the vehicle's width direction is non-parallel to the vehicle's vertical direction. More specifically, the marker 100 is configured by arranging a plurality of partial images 102 of the same shape at equal intervals in the vehicle's width direction, and each partial image 102 is approximately trapezoidal. That is, each partial image 102 has a pair of parallel sides 104, 106 formed by straight lines inclined with respect to the vehicle's vertical direction and the vehicle's width direction. Also, in each partial image 102, the upper ends in the vehicle's vertical direction of the sides 104, 106 are connected by a side 108 parallel to the vehicle's width direction, and the lower ends in the vehicle's vertical direction of the sides 104, 106 are connected by a side 110 parallel to the vehicle's vertical direction. And in the marker 100, the positions in the vehicle's vertical direction of the sides 108, 110 in the plurality of partial images 102 are aligned.

[0055] Note that the display control ECU 42 is an example of a display control device and a display control unit. Also, the HUD 56 is an example of a display device. Further, the marker 100 is an example of a "marker composed of a plurality of partial images arranged at intervals in the vehicle width direction, and the side along the longitudinal direction of the partial image is non-parallel to the vehicle vertical direction".

[0056] Next, as the operation of the first embodiment, 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 with reference to FIG. 5.

[0057] In step 200 of the display control process, the display control unit 72 determines whether the AR display condition is satisfied. In the present embodiment, the display control unit 72 determines that the AR display condition is satisfied when the ADAS-ECU 34 is executing ACC. When the ADAS-ECU 34 is not executing ACC, the determination in step 200 is denied, and the determination in step 200 is repeated. In this case, the marker 100 is not displayed in the display area 74 of the AR-HUD 56.

[0058] Also, when the ADAS-ECU 34 is executing ACC, the determination in step 200 is affirmed and the process proceeds to step 202. In step 202, the display control unit 72 acquires from the camera unit 24 the distance between the host vehicle and the preceding vehicle being tracked by the host vehicle in ACC by the ADAS-ECU 34 and the relative position in the vehicle width direction.

[0059] Also, in step 208, the display control unit 72 reads the marker image data 55 from the storage unit 48, and based on the read marker image data 55, creates the marker 100 to be displayed in the display area 74 of the AR-HUD 56 when the preceding vehicle is located at a reference position where the distance from the preceding vehicle is a predetermined reference distance.

[0060] In the next step 214, the display control unit 72 enlarges or reduces the marker 100 according to the distance difference between the distance to the preceding vehicle acquired in step 202 and the reference distance described above. Note that the magnification ratio of the marker 100 is determined such that, as shown in FIG. 14B as an example, the magnification ratio decreases (changes in the reducing direction) as the distance to the preceding vehicle increases.

[0061] In step 220, the display control unit 72 calculates the display position of the marker 100 on the AR-HUD 56 for displaying the marker 100 at a position corresponding to the image 90 of the preceding vehicle in the display area 74 (see, for example, FIG. 6A) based on the distance to the preceding vehicle and the relative position in the vehicle width direction. Then, the display control unit 72 controls the AR-HUD 56 so that the enlarged or reduced marker 100 is displayed at a position corresponding to the image 90 of the preceding vehicle. When the process of step 220 ends, the routine returns to step 200.

[0062] By the above display control process, while the ADAS-ECU 34 is executing ACC, the marker 100 is displayed at a position corresponding to the image 90 of the preceding vehicle in the display area 74 of the AR-HUD 56 (see, for example, FIG. 6A). However, the accuracy of the position detection of the preceding vehicle by the camera unit 24 varies depending on, for example, the color of the preceding vehicle, the distance to the preceding vehicle, the weather, and the like. For this reason, as shown in FIGS. 6B, 6C, 7A, and 7B, for example, the marker 100 may be displayed at a position shifted from the image 90 of the preceding vehicle.

[0063] Note that Fig. 6B shows a state where the marker 100 is displayed at a position shifted to the right in the vehicle width direction with respect to the proper display position of the marker 100 shown in Fig. 6A (right shift). Note that Fig. 6C shows a state where the marker 100 is displayed at a position shifted to the left in the vehicle width direction with respect to the proper display position of the marker 100 shown in Fig. 6A (left shift). Note that Fig. 7A shows a state where the marker 100 is displayed at a position shifted upward in the vehicle vertical direction with respect to the proper display position of the marker 100 shown in Fig. 6A (upward shift). Note that Fig. 7B shows a state where the marker 100 is displayed at a position shifted downward in the vehicle vertical direction with respect to the proper display position of the marker 100 shown in Fig. 6A (downward shift).

[0064] On the other hand, as shown in Fig. 4, the marker 100 according to the present embodiment has a width in the vehicle vertical direction and the vehicle width direction, and the outer shape at the outer edge in the vehicle width direction is non-parallel to the vehicle vertical direction. Further, the marker 100 is configured by arranging a plurality of partial images 102 having the same shape at equal intervals in the vehicle width direction, and each partial image 102 is approximately trapezoidal. That is, each partial image 102 has a pair of parallel sides 104, 106 formed by straight lines inclined with respect to the vehicle vertical direction and the vehicle width direction. Further, in each partial image 102, the upper end portions in the vehicle vertical direction of the sides 104, 106 are connected by a side 108 parallel to the vehicle width direction, and the lower end portions in the vehicle vertical direction of the sides 104, 106 are connected by a side 110 parallel to the vehicle vertical direction.

[0065] Since the marker 100 has the above-described shape, for example, at the left end in the vehicle width direction of the marker 100, the edge within the range indicated by reference numeral 112 and the edge within the range indicated by reference numeral 114 in Fig. 4 will each be interpreted as a reference point in marker recognition by the user. As a result, as is also clear from Figs. 6B, 6C, 7A, and 7B, it becomes difficult for the user to recognize the accurate amount of positional deviation of the marker 100 with respect to the image 90 of the preceding vehicle. Therefore, it is possible to suppress the user from clearly recognizing the positional deviation of the marker 100 with respect to the image 90 of the preceding vehicle.

[0066] As described above, in the first embodiment, the display control unit 72 is composed of a plurality of partial images arranged at intervals in the vehicle width direction, and a marker 100 in which a side along the longitudinal direction of the partial image is non-parallel to the vehicle vertical direction is provided in the display area 74 of the AR-HUD 56. It is displayed at a position corresponding to an object included in the foreground of the vehicle that passes through the display area 74 of the AR-HUD 56. Thereby, it is possible to suppress the clear recognition of the positional deviation of the marker 100 with respect to the object.

[0067] Also, in the first embodiment, since the partial images 102 are arranged at equal intervals in the vehicle width direction, it is possible to more effectively suppress the clear recognition of the positional deviation of the marker 100 with respect to the object as compared with the case where there is density unevenness in the arrangement of the partial images 102.

[0068] Furthermore, in the first embodiment, since the partial image 102 has a shape in which one of the upper end portion and the lower end portion in the vehicle vertical direction is parallel to the vehicle width direction and the other is parallel to the vehicle vertical direction, the vehicle width direction and the vehicle vertical direction with respect to the object It is possible to suppress the clear recognition of the positional deviation of the marker 100.

[0069] Also, in the first embodiment, since the marker 100 is asymmetric in the left-right direction in the vehicle width direction, it is possible to further suppress the clear recognition of the positional deviation of the marker 100 with respect to the object.

[0070] 〔Second Embodiment〕 Next, a second embodiment of the present disclosure will be described. The same parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

[0071] In addition to detecting the distance from the preceding vehicle and the relative position in the vehicle width direction, the camera unit 24 according to the second embodiment also detects the reliability of the position detection of the preceding vehicle in the vehicle vertical direction and the vehicle width direction based on the color of the preceding vehicle, the distance from the preceding vehicle, the weather, etc.

[0072] Next, referring to FIG. 8, the display control process according to the second embodiment will be described. In the display control process according to the second embodiment, when it is determined that the AR display condition is satisfied and the determination in step 200 is affirmative, the process proceeds to step 206. In step 206, the display control unit 72 acquires from the camera unit 24 the distance from the preceding vehicle, the relative position in the vehicle width direction, and the reliability in the vehicle vertical direction and the vehicle width direction in the position recognition of the preceding vehicle, respectively.

[0073] In the next step 208, the display control unit 72 creates the marker 100 at the reference position. Then, in step 210, the display control unit 72 changes the display mode of the marker 100 created in step 208, specifically, the length of the marker 100 in the vehicle vertical direction, according to the reliability in the vehicle vertical direction in the position recognition of the preceding vehicle acquired from the camera unit 24.

[0074] Specifically, when the reliability in the vehicle vertical direction in the position recognition of the preceding vehicle is equal to or higher than the threshold value, the display control unit 72 relatively shortens the length of the marker 100 in the vehicle vertical direction as shown in FIGS. 9A and 10A. In this case, the effect of suppressing the clear recognition of the displacement of the marker 100 in the vehicle vertical direction becomes small, and the position in the vehicle vertical direction is pinpointed by the marker 100. On the other hand, when the reliability in the vehicle vertical direction in the position recognition of the preceding vehicle is less than the threshold value, the display control unit 72 relatively lengthens the length of the marker 100 in the vehicle vertical direction as shown in FIGS. 9B and 10B. In this case, the effect of suppressing the clear recognition of the displacement of the marker 100 in the vehicle vertical direction becomes large. By changing the length of the marker 100 in the vehicle vertical direction as described above according to the reliability in the vehicle vertical direction in the position recognition of the preceding vehicle, the user can intuitively recognize the reliability in the vehicle vertical direction regarding the position recognition of the preceding vehicle.

[0075] Also in step 212, the display control unit 72 changes the display mode of the marker 100, specifically, the ratio of the dark portion / light portion along the vehicle width direction of the marker 100, according to the reliability in the vehicle width direction in the position recognition of the preceding vehicle acquired from the camera unit 24.

[0076] Specifically, when the reliability in the vehicle width direction in the position recognition of the preceding vehicle is equal to or higher than the first threshold, the display control unit 72 sets the ratio of the dark portion 100A of the marker 100 along the vehicle width direction to 100% as shown in FIGS. 11A and 12A. Also, when the reliability in the vehicle width direction in the position recognition of the preceding vehicle is less than the first threshold and equal to or higher than the second threshold (the first threshold > the second threshold), the display control unit 72 sets the ratio of the dark portion 100A of the marker 100 along the vehicle width direction to a medium level and makes the remaining portion other than the dark portion 100A the light portion 100B as shown in FIGS. 11B and 12B. Further, when the reliability in the vehicle width direction in the position recognition of the preceding vehicle is less than the second threshold, the display control unit 72 sets the ratio of the light portion 100B of the marker 100 along the vehicle width direction to 100% as shown in FIGS. 11C and 12C. In this way, by changing the ratio of the dark portion 100A / light portion 100B of the marker 100 along the vehicle width direction as described above according to the reliability in the vehicle width direction in the position recognition of the preceding vehicle, the reliability in the vehicle width direction regarding the position recognition of the preceding vehicle can be intuitively recognized by the user.

[0077] Regarding the processing of the next steps 214 and 220, since it is the same as that described in the first embodiment, the description is omitted.

[0078] Thus, in the second embodiment, the display control unit 72 acquires the reliability regarding the recognition of the position of the preceding vehicle and changes the display mode of the marker 100 based on the acquired reliability regarding the recognition of the position of the preceding vehicle. Thereby, the reliability regarding the recognition of the position of the preceding vehicle can be recognized by the user.

[0079] Also, in the second embodiment, the display control unit 72 acquires the reliability in the vehicle up-and-down direction regarding the recognition of the position of the preceding vehicle, and based on the acquired reliability in the vehicle up-and-down direction regarding the recognition of the position of the preceding vehicle, changes the width of the marker 100 in the vehicle up-and-down direction as a change in the display mode of the marker 100. Thereby, by a simple change in the display mode of changing the width of the marker 100 in the vehicle up-and-down direction, the user can recognize the reliability in the vehicle up-and-down direction regarding the recognition of the position of the preceding vehicle.

[0080] Also, in the second embodiment, as the reliability in the vehicle up-and-down direction regarding the recognition of the position of the preceding vehicle acquired by the display control unit 72 decreases, the width of the marker 100 in the vehicle up-and-down direction is increased. Thereby, the user can intuitively recognize the reliability in the vehicle up-and-down direction regarding the recognition of the position of the preceding vehicle, and when the reliability in the vehicle up-and-down direction regarding the recognition of the position of the preceding vehicle is low, it is possible to suppress the clear recognition of the displacement of the marker 100 with respect to the preceding vehicle.

[0081] Furthermore, in the second embodiment, the display control unit 72 acquires the reliability in the vehicle width direction regarding the recognition of the position of the preceding vehicle, and based on the acquired reliability in the vehicle width direction regarding the recognition of the position of the preceding vehicle, changes the shading of the color of the marker 100 in the vehicle width direction as a change in the display mode of the marker 100. Thereby, by a simple change in the display mode of changing the shading of the color of the marker 100 in the vehicle width direction, the user can recognize the reliability in the vehicle width direction regarding the recognition of the position of the preceding vehicle.

[0082] Also, in the second embodiment, as the reliability in the vehicle width direction regarding the recognition of the position of the preceding vehicle acquired by the display control unit 72 decreases, the ratio of the light-colored portion of the marker 100 with a light color along the vehicle width direction is increased. Thereby, the user can intuitively recognize the reliability in the vehicle width direction regarding the recognition of the position of the preceding vehicle.

[0083] 〔Third Embodiment〕 Next, a third embodiment of the present disclosure will be described. Since the third 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, and the display control process according to the third embodiment will be described with reference to FIG. 13.

[0084] In the display control process according to the third embodiment, as in the first embodiment, when it is determined that the AR display condition is satisfied (when the determination in step 200 is affirmative), the distance from the preceding vehicle and the relative position in the vehicle width direction are acquired from the camera unit 24 (step 202). Further, the marker 100 is created at the reference position (step 208), and the marker 100 is enlarged or reduced according to the distance difference between the distance from the preceding vehicle and the reference distance (step 214).

[0085] By the above processing, the image of the marker 100 is reduced as the distance between the host vehicle and the preceding vehicle increases and is displayed in the display area 74 of the AR-HUD 56. As a result, as the distance between the host vehicle and the preceding vehicle increases, the interval between the partial images 102 of the marker 100 becomes smaller, and it may become less than the resolution of the human eye (for example, approximately 1 / 60 deg). In this case, as shown in FIG. 14C, where it is noted that "in the case of long-distance display, the gap between partial images cannot be recognized, gap size < eye resolution (1 / 60 deg)", the entire marker 100 is more likely to be recognized as a single piece of image in the marker recognition by the user.

[0086] Therefore, in the next step 216, the display control unit 72 determines whether the interval between the partial images 102 of the marker 100 that has been enlarged or reduced in step 214 is larger than the resolution of the human eye (for example, approximately 1 / 60 deg). Here, when the distance between the host vehicle and the preceding vehicle is relatively small, the determination in step 216 is negative and the process proceeds to step 220. Therefore, in this case, the marker 100 enlarged or reduced in step 214 is displayed as it is at the position corresponding to the image 90 of the preceding vehicle (see also the marker 100 denoted as short-distance display in FIG. 14A).

[0087] On the other hand, when the distance between the host vehicle and the preceding vehicle is relatively large, the determination in step 216 is affirmed and the process proceeds to step 218. In step 218, the display control unit 72 adjusts the number and interval of the partial images 102 such that the width of the partial images 102 is constant and the interval between the partial images 102 is larger than the resolution of the human eye. As a result, as shown in FIG. 14C, it is stated that "even in the case of long-distance display, by widening the interval between the markers and reducing the number of partial images, the gap between the partial images can be recognized, and the size of the gap > the resolution of the eye (1 / 60 deg)", and the interval between the partial images 102 of the marker 100 is made larger than the resolution of the human eye.

[0088] Note that by the process of step 218, the number of the partial images 102 is gradually decreased as the distance between the host vehicle and the preceding vehicle increases, and the interval between the partial images 102 is gradually increased as the distance between the host vehicle and the preceding vehicle increases (see also FIG. 14B). However, the number and interval of the partial images 102 may be continuously changed as the distance between the host vehicle and the preceding vehicle increases.

[0089] When the process of step 218 is performed, the process proceeds to step 220. Therefore, in this case, the marker 100 enlarged or reduced in step 214 is displayed at the position corresponding to the image 90 of the preceding vehicle with the partial images 102 thinned out (see also the marker 100 marked as long-distance display in FIG. 14A). As a result, it becomes difficult for the entire marker 100 to be recognized as a single piece of image in the marker recognition by the user, and it is possible to suppress the clear recognition of the positional deviation of the marker 100 with respect to the preceding vehicle even when the distance between the host vehicle and the preceding vehicle is relatively large.

[0090] As described above, in the third embodiment, the display control unit 72 reduces the image of the marker 100 as the distance between the host vehicle and the preceding vehicle increases, and displays it in the display area 74 of the AR-HUD 56. At the same time, the display control unit 72 adjusts the interval along the vehicle width direction of the partial image 102 in the reduced image of the marker 100 and the number of partial images 102 so that the interval along the vehicle width direction of the partial image 102 becomes larger than the eye resolution. As a result, it is possible to suppress the entire marker 100 from being recognized as a single piece of image, and to suppress the clear recognition of the positional deviation of the marker with respect to the preceding vehicle even when the distance between the host vehicle and the preceding vehicle is large.

[0091] In the above embodiment, the mode in which the positions of the sides 108 and 110 in the vehicle vertical direction of the plurality of partial images 102 constituting the marker 100 are aligned linearly has been described (see FIG. 4). However, the marker according to the present disclosure is not limited to the case where the plurality of partial images 102 are arranged as described above. For example, like the marker 120 shown in FIG. 15, the plurality of partial images 102 may be arranged such that the positions of the sides 108 and 110 in the vehicle vertical direction of the plurality of partial images 102 change periodically in the vehicle vertical direction.

[0092] In the above embodiment, the mode in which the sides 104 and 106 of the individual partial images 102 constituting the marker 100 are linear has been described. However, the marker in the present disclosure is not limited to the case where the sides of the individual partial images are linear. For example, like the marker 122 shown in FIG. 16, the sides 104 and 106 of the individual partial images 102 constituting the marker 122 may be curved.

[0093] In the above-described embodiment, an aspect has been described in which the individual partial images 102 constituting the marker 100 have a shape in which the upper ends in the vehicle vertical direction of the sides 104 and 106 are connected by a side 108 parallel to the vehicle width direction, and the lower ends in the vehicle vertical direction of the sides 104 and 106 are connected by a side 110 parallel to the vehicle vertical direction (see FIG. 4). However, the marker according to the present disclosure is not limited to the case where the individual partial images have the above shape. For example, like the marker 124 shown in FIG. 17, the partial image 102 may have a shape in which the upper ends in the vehicle vertical direction of the sides 104 and 106 are connected by a side 126 parallel to the vehicle vertical direction, and the lower ends in the vehicle vertical direction of the sides 104 and 106 are connected by a side 128 parallel to the vehicle width direction.

[0094] Furthermore, as an example, like the marker 130 shown in FIG. 18, the partial image 102 may have a shape in which the upper ends in the vehicle vertical direction of the sides 104 and 106 are connected by an arc-shaped side 132, and the lower ends in the vehicle vertical direction of the sides 104 and 106 are connected by an arc-shaped side 134.

[0095] Note that the markers 120, 122, 124, and 130 described above are examples of "markers composed of a plurality of partial images arranged at intervals in the vehicle width direction, and the sides along the longitudinal direction of the partial images are non-parallel to the vehicle vertical direction".

[0096] In the above-described embodiment, an aspect has been described in which the marker 100 is formed by arranging a plurality of partial images 102 at intervals, but the marker according to the present disclosure is not limited to being composed of a plurality of partial images. For example, like the marker 136 shown in FIG. 19, it may be composed of a single parallelogram-shaped mark in which a plurality of partial images 102 are integrated. Note that the marker 136 is an example of "a marker having a polygonal shape with a short side, the short side being located on the end side in the vehicle width direction and non-parallel to the vehicle vertical direction".

[0097] In the above-described embodiment, the individual partial images 102 constituting the marker 100 have been described as being approximately rod-shaped. However, the marker according to the present disclosure may have a configuration in which the individual partial images 102 are approximately V-shaped and rotated 90° clockwise at predetermined intervals, as in the marker 138 shown in FIGS. 20 and 21, for example. At the left end in the vehicle width direction of the marker 138, for example, the edges within the three ranges indicated by reference numerals 140, 142, and 144 in FIG. 20 are each interpreted as reference points in marker recognition by the user. However, due to its positional relationship, the marker 138 has an edge within the range 142 being interpreted as a reference point more strongly than the edges within the other ranges 140 and 144. Therefore, compared to the marker 100 and the like, the effect of suppressing the user from clearly recognizing the positional deviation of the marker 138 with respect to the image 90 of the preceding vehicle is reduced. However, the marker according to the present disclosure includes the marker 138 shown in FIG. 20 within the scope of rights.

[0098] In the above-described embodiment, the marker 100 has been described as being asymmetric in the left-right direction in the vehicle width direction. However, the marker according to the present disclosure may have a shape in which a partial image 148A that is approximately rod-shaped and inclined approximately 45° clockwise with respect to the vertical direction and a partial image 148B that is approximately rod-shaped and inclined approximately 45° counterclockwise with respect to the vertical direction are arranged symmetrically with respect to each other across the central portion in the vehicle width direction, as in the marker 146 shown in FIGS. 22 and 23, for example.

[0099] Alternatively, it may have a configuration in which the partial image 148A and the partial image 148B appear alternately along the vehicle width direction, as in the marker 150 shown in FIGS. 24 and 25, for example. The markers 146 and 150 shown in FIGS. 22 to 25 are symmetric in the left-right direction in the vehicle width direction, and the central portion in the vehicle width direction of the markers 146 and 150 is likely to be interpreted as a reference point in marker recognition by the user. Therefore, compared to the marker 100 and the like, the effect of suppressing the user from clearly recognizing the positional deviation in the vehicle width direction of the markers 146 and 150 with respect to the image 90 of the preceding vehicle is reduced. However, the marker according to the present disclosure includes the markers 146 and 150 shown in FIGS. 22 to 25 within the scope of rights.

[0100] Note that the above-described markers 138, 146, and 150 are also examples of "markers composed of a plurality of partial images arranged at intervals in the vehicle width direction, and the sides along the longitudinal direction of the partial images are non-parallel to the vehicle vertical direction".

[0101] Furthermore, in the above embodiment, the case where the object in the present disclosure is a preceding vehicle has been described. However, the object according to the present disclosure may be an object other than a preceding vehicle, such as a pedestrian.

[0102] Also, in the above embodiment, the mode of displaying a marker 100 or the like at a position corresponding to an object included in the foreground of the vehicle visually recognized through the display area 74 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 74 of the AR-HUD 56, and a marker 100 or the like may be displayed at a position corresponding to an object included in the image simulating the foreground of the host vehicle. Further, in the above embodiment, the mode of applying the AR-HUD 56 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.

[0103] Also, in the above, the 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-temporary recording medium such as an HDD, an SSD, or a DVD.

[0104] Regarding the above embodiments, the following supplementary notes are further disclosed.

[0105] (Supplementary Note 1) A display control device including a display control unit that causes a marker, which is composed of a plurality of partial images arranged at intervals in the vehicle width direction and has a side along the longitudinal direction of the partial image non-parallel to the vehicle vertical direction, to be displayed at a position corresponding to an object included in an image simulating a foreground of a vehicle that is visually recognized through the display area of a display device or a foreground of the vehicle displayed in the display area of the display device.

[0106] (Appendix 2) A display control device including a display control unit that causes a marker, which has a polygonal shape with a short side, the short side being located on the end side in the vehicle width direction and non-parallel to the vehicle vertical direction, to be displayed at a position corresponding to an object included in an image simulating a foreground of a vehicle that is visually recognized through the display area of a display device or a foreground of the vehicle displayed in the display area of the display device.

[0107] (Appendix 3) The display control device according to Appendix 1, wherein the partial images are arranged at equal intervals in the vehicle width direction.

[0108] (Appendix 4) The display control device according to Appendix 1 or Appendix 3, wherein the partial image has a shape in which one of the upper end portion and the lower end portion in the vehicle vertical direction is parallel to the vehicle width direction and the other is parallel to the vehicle vertical direction.

[0109] (Appendix 5) The display control device according to any one of Appendices 1 to 4, wherein the marker is asymmetrical in the left-right direction in the vehicle width direction.

[0110] (Appendix 6) The display control device according to any one of Appendices 1 to 5, wherein the display control unit acquires a reliability regarding recognition of the position of the object and changes the marker display mode based on the acquired reliability.

[0111] (Appendix 7) The display control unit acquires the reliability in the vehicle vertical direction regarding the recognition of the position of the object, and based on the acquired reliability in the vehicle vertical direction, as a change in the display mode of the marker, changes the width of the marker in the vehicle vertical direction. The display control device according to Supplementary Note 6.

[0112] (Supplementary Note 8) The display control unit increases the width of the marker in the vehicle vertical direction as the acquired reliability in the vehicle vertical direction decreases. The display control device according to Supplementary Note 7.

[0113] (Supplementary Note 9) The display control unit acquires the reliability in the vehicle width direction regarding the recognition of the position of the object, and based on the acquired reliability in the vehicle width direction, as a change in the display mode of the marker, changes the shading of the color of the marker in the vehicle width direction. The display control device according to Supplementary Note 6.

[0114] (Supplementary Note 10) The display control unit increases the ratio along the vehicle width direction of the light-colored portion with a light color in the marker as the acquired reliability in the vehicle width direction decreases. The display control device according to Supplementary Note 9.

[0115] (Supplementary Note 11) The display control unit reduces the image of the marker and displays it in the display area of the display device as the distance between the vehicle and the object increases, and adjusts the interval along the vehicle width direction of the partial image and the number of the partial images so that the interval along the vehicle width direction of the partial image in the reduced image of the marker is larger than the resolution of the eye. The display control device according to any one of Supplementary Notes 1, 3 to 10.

[0116] (Supplementary Note 12) The display device is a head-up display. The display control device according to any one of Supplementary Notes 1 to 11.

[0117] (Supplementary Note 13) A display control method for causing a computer to execute a process including displaying, at a position corresponding to an object included in an image simulating a foreground of a vehicle that is visually recognized through a display area of a display device or a foreground of the vehicle displayed in the display area of the display device, a marker composed of a plurality of partial images arranged at intervals in the vehicle width direction, wherein a side along the longitudinal direction of the partial image is non-parallel to the vehicle vertical direction.

[0118] (Appendix 14) A display control method for causing a computer to execute a process including displaying, at a position corresponding to an object included in an image simulating a foreground of a vehicle that is visually recognized through a display area of a display device or a foreground of the vehicle displayed in the display area of the display device, a marker having a polygonal shape with a short side, wherein the short side is located on the end side in the vehicle width direction and is non-parallel to the vehicle vertical direction.

[0119] (Appendix 15) The display control method according to Appendix 13, wherein the partial images are arranged at equal intervals in the vehicle width direction.

[0120] (Appendix 16) The display control method according to Appendix 13 or Appendix 15, wherein the partial image has a shape in which one of the upper end portion and the lower end portion in the vehicle vertical direction is parallel to the vehicle width direction and the other is parallel to the vehicle vertical direction.

[0121] (Appendix 17) The display control method according to Appendix 13 or Appendix 14, wherein the marker is asymmetrical left and right in the vehicle width direction.

[0122] (Appendix 18) The display control method according to Appendix 13 or Appendix 14, wherein the display control unit acquires a reliability regarding recognition of the position of the object and changes a display mode of the marker based on the acquired reliability.

[0123] (Appendix 19) The display control unit acquires the reliability in the vehicle up-and-down direction regarding the recognition of the position of the object, and based on the acquired reliability in the vehicle up-and-down direction, as a change in the display mode of the marker, changes the width of the marker in the vehicle up-and-down direction, which is the display control method described in Supplementary Note 18.

[0124] (Supplementary Note 20) The display control unit increases the width of the marker in the vehicle up-and-down direction as the acquired reliability in the vehicle up-and-down direction decreases, which is the display control method described in Supplementary Note 19.

[0125] (Supplementary Note 21) The display control unit acquires the reliability in the vehicle width direction regarding the recognition of the position of the object, and based on the acquired reliability in the vehicle width direction, as a change in the display mode of the marker, changes the shade of the color of the marker in the vehicle width direction, which is the display control method described in Supplementary Note 18.

[0126] (Supplementary Note 22) The display control unit increases the ratio along the vehicle width direction of the light-colored portion of the marker where the color is light as the acquired reliability in the vehicle width direction decreases, which is the display control method described in Supplementary Note 21.

[0127] (Supplementary Note 23) The display control unit reduces the image of the marker and displays it in the display area of the display device as the distance between the vehicle and the object increases, and adjusts the interval along the vehicle width direction of the partial image and the number of the partial images so that the interval along the vehicle width direction of the partial image in the reduced image of the marker is larger than the resolution of the eye, which is the display control method described in any one of Supplementary Notes 13, 15 to 22.

[0128] (Supplementary Note 24) The display device is a head-up display, which is the display control method described in any one of Supplementary Notes 13 to 23.

[0129] (Supplementary Note 25) In a computer, A display control program for causing a computer to execute a process including displaying a marker, which is composed of a plurality of partial images arranged at intervals in the vehicle width direction and has a side along the longitudinal direction of the partial image non-parallel to the vehicle vertical direction, at a position corresponding to an object included in an image simulating a foreground of a vehicle visually recognized through a display area of a display device or a foreground of the vehicle displayed in the display area of the display device.

[0130] (Appendix 26) To a computer, A display control program for causing a computer to execute a process including displaying a marker, which has a polygonal shape with a short side, the short side being located on the end side in the vehicle width direction and non-parallel to the vehicle vertical direction, at a position corresponding to an object included in an image simulating a foreground of a vehicle visually recognized through a display area of a display device or a foreground of the vehicle displayed in the display area of the display device.

[0131] (Appendix 27) The display control program according to Appendix 25, wherein the partial images are arranged at equal intervals in the vehicle width direction.

[0132] (Appendix 28) The display control program according to Appendix 25 or 27, wherein one of the upper end portion and the lower end portion in the vehicle vertical direction of the partial image is parallel to the vehicle width direction and the other is parallel to the vehicle vertical direction.

[0133] (Appendix 29) The display control program according to Appendix 25 or 26, wherein the marker is asymmetric in the left-right direction in the vehicle width direction.

[0134] (Appendix 30) The display control program according to Appendix 25 or 26, wherein the display control unit acquires a reliability regarding recognition of the position of the object and changes a display mode of the marker based on the acquired reliability.

[0135] (Appendix 31) The display control unit acquires the reliability in the vehicle up-and-down direction regarding the recognition of the position of the object, and based on the acquired reliability in the vehicle up-and-down direction, as a change in the display mode of the marker, changes the width of the marker in the vehicle up-and-down direction, which is described in Supplementary Note 30 of the display control program.

[0136] (Supplementary Note 32) The display control unit increases the width of the marker in the vehicle up-and-down direction as the acquired reliability in the vehicle up-and-down direction decreases, which is described in Supplementary Note 31 of the display control program.

[0137] (Supplementary Note 33) The display control unit acquires the reliability in the vehicle width direction regarding the recognition of the position of the object, and based on the acquired reliability in the vehicle width direction, as a change in the display mode of the marker, changes the shade of the color of the marker in the vehicle width direction, which is described in Supplementary Note 30 of the display control program.

[0138] (Supplementary Note 34) The display control unit increases the ratio along the vehicle width direction of the light-colored portion with a light color in the marker as the acquired reliability in the vehicle width direction decreases, which is described in Supplementary Note 33 of the display control program.

[0139] (Supplementary Note 35) The display control unit reduces the image of the marker and displays it in the display area of the display device as the distance between the vehicle and the object increases, and adjusts the interval along the vehicle width direction of the partial image and the number of the partial images so that the interval along the vehicle width direction of the partial image in the reduced image of the marker is larger than the resolution of the eye, which is described in any one of Supplementary Notes 25, 27 to 34 of the display control program.

[0140] (Supplementary Note 36) The display device is a head-up display, which is described in any one of Supplementary Notes 25 to 35 of the display control program.

Explanation of Reference Signs

[0141] 10 In-vehicle system 24 Camera Unit 42 Display Control ECU 54 Display Control Program 56 AR-HUD 70 Leading Vehicle Detection Unit 72 Display Control Unit 74 Display Area 90 Image of Leading Vehicle 100, 120, 122, 124, 130, 136, 138, 146, 150 Marker 102, 148A, 148B Partial Image

Claims

1. A display control device including a display control unit that causes a marker, which is composed of a plurality of partial images arranged at intervals in the vehicle width direction and has a side along the longitudinal direction of the partial image non-parallel to the vehicle vertical direction, to be displayed at a position corresponding to an object included in an image simulating a foreground of a vehicle that is visually recognized through a display area of a display device or a foreground of the vehicle displayed in the display area of the display device.

2. A display control device including a display control unit that causes a marker, which has a polygonal shape with a short side, the short side being located on an end side in the vehicle width direction and non-parallel to the vehicle vertical direction, to be displayed at a position corresponding to an object included in an image simulating a foreground of a vehicle that is visually recognized through a display area of a display device or a foreground of the vehicle displayed in the display area of the display device.

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

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

5. The display control device according to claim 1 or claim 2, wherein the marker is asymmetric in the left-right direction in the vehicle width direction.

6. The display control device according to claim 1 or claim 2, wherein the display control unit acquires a reliability regarding recognition of a position of the object and changes a display mode of the marker based on the acquired reliability.

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

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

9. The display control device according to claim 6, wherein the display control unit acquires a reliability in the vehicle width direction regarding recognition of a position of the object and, based on the acquired reliability in the vehicle width direction, changes a shade of a color of the marker in the vehicle width direction as a change in the display mode of the marker.

10. The display control device according to claim 9, wherein the display control unit increases a ratio along the vehicle width direction of a light-colored portion of the marker having a light color as the acquired reliability in the vehicle width direction decreases.

11. The display control unit reduces the image of the marker as the distance between the vehicle and the object increases, and displays the reduced image of the marker in the display area of the display device. The display control unit adjusts the interval along the vehicle width direction of the partial images and the number of the partial images so that the interval along the vehicle width direction of the partial images in the reduced image of the marker is larger than the resolution of the human eye. The display control device according to claim 1.

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

13. A marker composed of a plurality of partial images arranged at intervals in the vehicle width direction, and a side along the longitudinal direction of the partial image is non-parallel to the vehicle vertical direction. A display control method for causing a computer to execute a process including displaying the marker at a position corresponding to an object included in an image simulating a foreground of a vehicle visually recognized through the display area of the display device or a foreground of the vehicle displayed in the display area of the display device.

14. A display control method for causing a computer to execute a process including displaying a marker having a polygonal shape with a short side, the short side being located on the end side in the vehicle width direction and non-parallel to the vehicle vertical direction, at a position corresponding to an object included in an image simulating a foreground of a vehicle visually recognized through the display area of the display device or a foreground of the vehicle displayed in the display area of the display device.

15. A display control program for causing a computer to execute a process including displaying a marker composed of a plurality of partial images arranged at intervals in the vehicle width direction, and a side along the longitudinal direction of the partial image is non-parallel to the vehicle vertical direction, at a position corresponding to an object included in an image simulating a foreground of a vehicle visually recognized through the display area of the display device or a foreground of the vehicle displayed in the display area of the display device.

16. A display control program for causing a computer to execute a process including displaying a marker having a polygonal shape with a short side, the short side being located on the end side in the vehicle width direction and non-parallel to the vehicle vertical direction, at a position corresponding to an object included in an image simulating a foreground of a vehicle visually recognized through the display area of the display device or a foreground of the vehicle displayed in the display area of the display device. ​ ​

Images