Display control device, display control method and program

Abstract

To provide a display control device, a display control method, and a program that can easily display an AR image corresponding to a relative moving body in a virtual display area when the distance between the relative moving body that is positioned in front of a vehicle and relatively travels relative to the vehicle and the vehicle is changed, and does not easily allow a driver to feel that the distance between the AR image and a preceding vehicle is changed when the distance between the vehicle and the preceding vehicle is changed.SOLUTION: When an intersection between a straight line L1 for connecting an eyeball reference position Pe of a driver of a vehicle 12 and a relative moving body 40 and a virtual surface VA that includes a virtual display area HA and is wider than the virtual display area is defined as a first intersection CP1, and when an intersection between a straight line L2 for connecting the eyeball reference position and an AR image, and the virtual display area is defined as a second intersection CP2, a position of the second intersection is controlled such that second distance as distance between the first intersection and the second intersection becomes longer when first distance LB2 as distance between a relative moving body and a vehicle is longer than a predetermined value compared to when it is equal to the predetermined value.SELECTED DRAWING: Figure 7

Description

[Technical field]

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

[0002] The following Patent Document 1 discloses a head-up display that forms an image related to a preceding vehicle located in front of a vehicle. When the distance between the vehicle equipped with the head-up display and the preceding vehicle is large, this head-up display increases the degree of emphasis of the formed image compared to when the distance is small. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2017 / 046937 Summary of the Invention [Problem to be solved by the invention]

[0004] Assume that the technical idea of ​​the above-mentioned Patent Document 1 is applied to an augmented reality head-up display (hereinafter, AR-HUD) mounted on a vehicle. That is, assume that the AR-HUD forms an AR image corresponding to a leading vehicle in a virtual display area set in front of the vehicle.

[0005] The size of the virtual display area is constant. Therefore, when the distance between the vehicle equipped with the AR-HUD and the preceding vehicle becomes long, the driver of the vehicle cannot see the preceding vehicle through the virtual display area. That is, in this case, the driver sees the preceding vehicle through the space outside the virtual display area. When the driver sees the preceding vehicle in this manner, it is likely that the AR-HUD has difficulty displaying the AR image corresponding to the preceding vehicle in the virtual display area. Furthermore, when the distance between the vehicle and the preceding vehicle changes, the driver is likely to feel that the distance between the AR image and the preceding vehicle has changed.

[0006] The present invention takes into consideration the above-mentioned facts and aims to provide a display control device, a display control method, and a program that make it easy to display an AR image corresponding to a relative moving object located in front of the vehicle and moving relatively to the vehicle in a virtual display area when the distance between the vehicle and the relative moving object changes, and that makes it difficult for the driver to feel that the distance between the AR image and the preceding vehicle has changed when the distance between the vehicle and the preceding vehicle changes. [Means for solving the problem]

[0007] The display control device of claim 1 is a display control device mounted on a vehicle that forms, in a virtual display area set in front of the vehicle, an AR image corresponding to a relative moving object that is located in front of the vehicle and moves relatively to the vehicle, and when an intersection point between a straight line connecting an eyeball reference position of a driver of the vehicle and the relative moving object and a virtual surface that includes the virtual display area and is wider than the virtual display area is defined as a first intersection point, and an intersection point between a straight line connecting the eyeball reference position and the AR image and the virtual display area is defined as a second intersection point, a first distance that is a distance between the relative moving object and the vehicle is defined as a first distance. Regardless of the size of the first distance The position of the second intersection is controlled so that a second distance, which is a distance between the first intersection and the second intersection, is longer when the first distance is longer than the predetermined value than when the first distance is a predetermined value.

[0008] The display control device according to claim 1 further comprises a first distance measuring device that measures a distance between a relative moving object and a vehicle. Regardless of the size of the first distance The position of the second intersection is controlled so that the second distance, which is the distance between the first intersection and the second intersection, is longer when the first distance is longer than a predetermined value than when the first distance is a predetermined value. Therefore, even if the driver of the vehicle visually recognizes the relative moving body through a space outside the virtual display area, the display control device can easily display the AR image corresponding to the relative moving body in the virtual display area by making the first distance longer. In addition, when the first distance is long, the second distance is long, and when the first distance is short, the second distance is short. Therefore, when the distance between the vehicle and the relative moving body changes, the driver is less likely to feel that the distance between the AR image and the relative moving body has changed.

[0009] The display control device according to claim 2 is based on claim 1, and is configured such that the longer the first distance, the longer the second distance is made.

[0010] The display control device of claim 2 makes the second distance longer as the first distance becomes longer. Therefore, the display control device of claim 2 can more easily display the AR image corresponding to the relative moving object in the virtual display area when the distance between the vehicle and the relative moving object changes, and can make it difficult for the driver to feel that the distance between the AR image and the preceding vehicle has changed when the distance between the vehicle and the preceding vehicle changes.

[0011] The display control device according to claim 3 is in accordance with claim 1 or claim 2, and changes the second distance in a stepwise manner according to the length of the first distance.

[0012] The display control device of claim 3 changes the second distance stepwise according to the length of the first distance. Therefore, the display control device of claim 3 can more easily display the AR image corresponding to the relative moving object in the virtual display area when the distance between the vehicle and the relative moving object changes, and can make it difficult for the driver to feel that the distance between the AR image and the preceding vehicle has changed when the distance between the vehicle and the preceding vehicle changes.

[0013] A display control method according to the invention described in claim 4 is a display control method for forming, in a virtual display area set in front of a vehicle, an AR image corresponding to a relative moving object that is located ahead of the vehicle and moves relatively to the vehicle, wherein an intersection point between a straight line connecting an eyeball reference position of a driver of the vehicle and the relative moving object and a virtual surface that includes the virtual display area and is wider than the virtual display area is defined as a first intersection point, and an intersection point between a straight line connecting the eyeball reference position and the AR image and the virtual display area is defined as a second intersection point, and a first distance that is a distance between the relative moving object and the vehicle is defined as a first distance. Regardless of the size of the first distance The position of the second intersection is controlled so that a second distance, which is a distance between the first intersection and the second intersection, is longer when the first distance is longer than the predetermined value than when the first distance is a predetermined value.

[0014] A program according to the invention described in claim 5 is a program for causing a computer to execute a process of forming, in a virtual display area set in front of a vehicle, an AR image corresponding to a relative moving object that is located in front of the vehicle and moves relatively to the vehicle, wherein an intersection point between a straight line connecting an eyeball reference position of a driver of the vehicle and the relative moving object and a virtual surface that includes the virtual display area and is wider than the virtual display area is defined as a first intersection point, and an intersection point between a straight line connecting the eyeball reference position and the AR image and the virtual display area is defined as a second intersection point, and a first distance that is a distance between the relative moving object and the vehicle is defined as a first distance. Regardless of the size of the first distance The computer is caused to execute a process of controlling the position of the second intersection so that a second distance, which is the distance between the first intersection and the second intersection, is longer when the first distance is longer than the predetermined value than when the first distance is a predetermined value. Effect of the Invention

[0015] As described above, the display control device, display control method, and program of the present invention have the excellent effect of easily displaying an AR image corresponding to a relative moving object in the virtual display area when the distance between the vehicle and a relative moving object located in front of the vehicle and moving relative to the vehicle changes, and of making it difficult for the driver to feel that the distance between the AR image and the preceding vehicle has changed when the distance between the vehicle and the preceding vehicle changes. [Brief description of the drawings]

[0016] [Figure 1] 1 is a diagram showing the interior of a vehicle equipped with a display control device according to an embodiment. [Diagram 2] FIG. 2 is a diagram showing a hardware configuration of the vehicle shown in FIG. [Diagram 3] 3 is a functional block diagram of a display control ECU shown in FIG. 2. [Figure 4] FIG. 3 is a functional block diagram of the ADAS-ECU shown in FIG. 2. [Diagram 5] FIG. 1 is a schematic side view of a vehicle and a preceding vehicle traveling on a road. [Figure 6]6 is a schematic diagram showing a virtual display area (virtual surface) as seen from the driver's side of the vehicle in FIG. 5. FIG. [Figure 7] 6 is a side view similar to FIG. 5, but showing a case where the distance between the vehicle and the preceding vehicle is longer than that in FIG. 5. [Figure 8] 8 is a schematic diagram showing a virtual display area (virtual surface) as seen from the driver's side of the vehicle in FIG. 7. FIG. [Figure 9] 8 is a side view similar to FIG. 5, but showing a case where the distance between the vehicle and the preceding vehicle is longer than that in FIG. 7. [Figure 10] 10 is a schematic diagram showing a virtual display area (virtual surface) as seen from the driver's side of the vehicle in FIG. [Figure 11] 4 is a flowchart showing a process executed by a CPU of a display control ECU. [Figure 12] 10 is a diagram for explaining the distance between the ACC image and the preceding vehicle as recognized by the driver when the inter-vehicle distance is short. FIG. [Figure 13] 10 is a diagram for explaining the distance between the ACC image and the preceding vehicle as recognized by the driver when the inter-vehicle distance is long. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment of a display control device 10, a display control method, and a program according to the present invention will be described with reference to the drawings. In the drawings, an arrow FR indicates the front side in the vehicle longitudinal direction, an arrow LH indicates the left side in the vehicle lateral direction, and an arrow UP indicates the upper side in the vehicle vertical direction.

[0018] The display control device 10 of this embodiment has a display control ECU 26 and a projection device 30, which will be described later. As shown in FIG. 1, the vehicle 12 on which the display control device 10 is mounted has a front windshield 14 and an instrument panel 16. A driving assistance switch 24 is provided on the instrument panel 16. A sensor unit 20 is provided on an upper part of the interior surface of the front windshield 14. The sensor unit 20 has a camera 21 and a millimeter wave sensor 22. The camera 21 is capable of photographing an object located in front of the vehicle. The millimeter wave sensor 22 transmits a detection wave forward and receives a reflected wave. The driving assistance switch 24 is a switch for causing the vehicle 12 to execute driving assistance control, which will be described later.

[0019] As shown in FIG. 2, in addition to the sensor unit 20 and the driving assistance switch 24, the vehicle 12 has a display control ECU 26, a head-up display (hereinafter, HUD) 28, and an ADAS-ECU 36 as a hardware configuration.

[0020] The display control ECU 26 includes a CPU (Central Processing Unit) 26A, a ROM (Read Only Memory) (non-transient storage medium) (storage medium) 26B, a RAM (Random Access Memory) 26C, a storage (non-transient storage medium) (storage medium) 26D, an in-vehicle communication I / F 26F, and an input / output I / F 26G. The CPU 26A, the ROM 26B, the RAM 26C, the storage 26D, the in-vehicle communication I / F 26F, and the input / output I / F 26G are connected to each other so as to be able to communicate with each other via an internal bus 26Z.

[0021] The CPU 26A is a central processing unit that executes various programs and controls each part. The CPU 26A reads out a program from the ROM 26B or the storage 26D, and executes the program using the RAM 26C as a working area. The CPU 26A controls each component and performs various calculation processes according to the program recorded in the ROM 26B or the storage 26D.

[0022] The ROM 26B stores various programs and various data. The RAM 26C temporarily stores programs or data as a working area. The storage 26D is configured by a storage device such as a hard disk drive (HDD) or a solid state drive (SSD), and stores various programs and various data.

[0023] The in-vehicle communication I / F 26F is an interface for connecting to the ADAS-ECU 36 via the external bus 26H. For example, the interface uses a communication standard based on the CAN protocol.

[0024] The input / output I / F 26G is an interface for communicating with the HUD 28 .

[0025] 3 is a block diagram showing an example of the functional configuration of the display control ECU 26. The display control ECU 26 has, as its functional configuration, a display control unit 261 and a communication control unit 262. The display control unit 261 and the communication control unit 262 are realized by the CPU 26A reading and executing a program stored in the ROM 26B.

[0026] The display control unit 261 controls the HUD 28. The function of the display control unit 261 will be described in detail later.

[0027] The communication control unit 262 controls the in-vehicle communication I / F 26F.

[0028] The ADAS-ECU 36 is composed of a CPU, a ROM (non-transient storage medium) (storage medium), a RAM, a storage (non-transient storage medium) (storage medium), an in-vehicle communication I / F, and an input / output I / F, which are connected to each other so that they can communicate with each other via an internal bus.

[0029] The sensor unit 20 is connected to the ADAS-ECU 36. The ADAS-ECU 36 is further connected to various actuators for driving a brake device and a steering device. The vehicle 12 is equipped with an electric motor as a drive source. The ADAS-ECU 36 is connected to the electric motor (actuator).

[0030] 4 is a block diagram showing an example of the functional configuration of the ADAS-ECU 36. The ADAS-ECU 36 has a driving assistance control unit 361 as a functional configuration. The driving assistance control unit 361 is realized by the CPU reading and executing a program stored in the ROM.

[0031] The driving assistance control unit 361 controls the actuator group, and the vehicle 12 executes driving assistance control of driving levels 1 to 5 defined by the Society of Automotive Engineers (SAE). For example, the vehicle 12 can execute ACC (adaptive cruise control) and CACC (cooperative adaptive cruise control). The driving assistance switch 24 is switched between an ON state and an OFF state by being operated by the occupant. When the driving assistance switch 24 is in an ON state, the vehicle 12 can execute driving assistance control. Furthermore, by operating the driving assistance switch 24 in an ON state, the occupant can cause the vehicle 12 to execute any driving assistance control among levels 1 to 5.

[0032] 5 to 10, it is assumed that the vehicle 12 is traveling forward on a straight road 50, and a preceding vehicle 40 located ahead of the vehicle 12 is also traveling forward on the road 50. In this case, when the driving assistance switch 24 is operated to cause the vehicle 12 to execute ACC, the driving assistance control unit 361 recognizes the relative position (relative distance) of the preceding vehicle 40 with respect to the vehicle 12 based on data transmitted from the sensor unit 20 to the ADAS-ECU 36. Furthermore, the driving assistance control unit 361 controls the actuator group so that the inter-vehicle distance between the vehicle 12 and the preceding vehicle 40 is maintained at a set distance, which is the inter-vehicle distance set by the occupant using the driving assistance switch 24.

[0033] Next, the function of the display control unit 261 will be described in detail.

[0034] The display control unit 261 recognizes the relative position of the preceding vehicle 40 with respect to the vehicle 12, based on the information on the relative position of the preceding vehicle 40 received from the ADAS-ECU 36 while the ACC is being executed. Here, the virtual plane VA shown in Figs. 5 to 10 will be described. The virtual plane VA is set at a position a predetermined fixed distance forward of the front windshield 14 and is a horizontally long rectangle. This fixed distance is, for example, any distance between 10 and 15 m. The virtual plane VA is a planar virtual area that is inclined with respect to the front-rear and up-down directions when viewed in the left-right direction.

[0035] The display control unit 261 calculates a first straight line L1 that is a straight line connecting the eye reference position Pe and the center position of the preceding vehicle 40, and a first intersection point CP1 that is an intersection point between the first straight line L1 and the virtual plane VA, based on the above-mentioned relative position of the preceding vehicle 40 and the position of the vehicle 12. Here, the eye reference position Pe is a predetermined position set in the interior space of the vehicle 12. Note that the first straight line L1 may be a straight line that connects a portion (point) other than the center position of the preceding vehicle 40 and the eye reference position Pe.

[0036] Furthermore, the display control unit 261 controls the HUD 28 having the projection device 30. The ROM 26B or storage 26D of the display control ECU 26 stores projection object data including various characters and icons (figures). The projection device 30 controlled by the display control unit 261 projects various types of AR images by reading the projection object data from the ROM 26B or storage 26D of the display control ECU 26. These AR images include 2D images and 3D images. That is, the HUD 28 is an AR-HUD (Augmented Reality Head-Up Display). The projection device 30 that has read the projection object data projects an AR image. The AR image projected by the projection device 30 is reflected forward by a reflecting unit (not shown) provided on the vehicle 12. Furthermore, the AR image reflected forward by the reflecting unit is formed as a virtual image VI in a virtual display area HA (see Figs. 5 to 10) located in front of the front windshield 14. Hereinafter, this virtual image is referred to as an AR image VI. The virtual display area HA is a planar virtual area that is located on the virtual surface VA and is smaller than the virtual surface VA. The virtual surface VA is a horizontally long rectangle.

[0037] Here, an ACC image VIacc (see FIG. 6, FIG. 8, and FIG. 10) which is a 3D AR image VI displayed in the virtual display area HA when the vehicle 12 is performing ACC will be described. The ACC image VIacc has three images each having a substantially V-shape. The display control unit 261 controls the projection device 30 so that the ACC image VIacc is formed at a predetermined position on the virtual display area HA. ​​Here, a straight line connecting the eyeball reference position Pe and the center point of the ACC image VIacc on the virtual plane VA is defined as a second straight line L2. Furthermore, the intersection point (the center point of the ACC image VIacc) between the second straight line L2 and the virtual display area HA is defined as a second intersection point CP2. In this case, the display control unit 261 calculates the position of the second intersection point CP2 so that the relative position of the second intersection point CP2 with respect to the first intersection point CP1 on the virtual plane VA is a predetermined position, and controls the projection device 30 so that the center point of the ACC image VIacc coincides with the second intersection point CP2. That is, the display control unit 261 controls the projection device 30 so that the position of the second intersection point CP2 on the virtual display area HA is changed every time the relative position between the vehicle 12 and the preceding vehicle 40 changes. When the middle position between the left and right eyes E (see FIG. 1) of the driver D seated in the driver's seat (not shown) is located at the eyeball reference position Pe or near the eyeball reference position Pe, the driver D who visually recognizes the ACC image VIacc projected on the virtual display area HA visually recognizes (has an illusion) that a three-dimensional image PIC (see FIG. 5, FIG. 7, FIG. 9) is formed (superimposed) in the area between the preceding vehicle 40 and the vehicle 12 on the road 50. In other words, the driver D recognizes (has an illusion) that the image PIC moves on the road 50 to follow the preceding vehicle 40 according to the change in the relative position between the vehicle 12 and the preceding vehicle 40. Therefore, the driver D who visually recognizes the ACC image VIacc can recognize that the preceding vehicle 40 is a vehicle to be followed by the vehicle 12. In addition, the straight line L2f shown in Figures 5, 7 and 9 is a straight line that passes through the front end point Pf of the ACC image Viacc and the eyeball reference position Pe, and the straight line L2r is a straight line that passes through the rear end point Pr of the ACC image Viacc and the eyeball reference position Pe.

[0038] However, the speed of the preceding vehicle 40 may change, and the distance between the vehicle 12 and the preceding vehicle 40 may change. For example, the distance between the vehicle 12 and the preceding vehicle 40 shown in Figs. 5 and 6 is the distance between the vehicle 12 and the preceding vehicle 40 shown in Figs. 7 and 8 is the distance between the vehicle 12 and the preceding vehicle 40 shown in Figs. 9 and 10 is the distance between the vehicle 12 and the preceding vehicle 40 shown in Figs. 10 and 11 is the distance between the vehicle 12 and the preceding vehicle 40 shown in Figs. 11 and 11. The distance between the vehicle 12 and the preceding vehicle 40 is LB1<LB2<LB3. As shown in Fig. 6, when the distance is LB1, the driver D sees the preceding vehicle 40 through the virtual display area HA. ​​As shown in Fig. 8, when the distance is LB2, the driver D sees the lower half of the preceding vehicle 40 through the virtual display area HA and sees the upper half of the preceding vehicle 40 through the upper area of ​​the virtual surface VA. As shown in FIG. 10, when the distance is an inter-vehicle distance LB3, the driver D visually recognizes the preceding vehicle 40 through the upper region of the imaginary plane VA.

[0039] The distance between the first intersection CP1 and the second intersection CP2 on the imaginary plane VA in the cases shown in Figures 5 and 6 is the inter-intersection distance (second distance) Lsp1, the distance between the first intersection CP1 and the second intersection CP2 on the imaginary plane VA in the cases shown in Figures 7 and 8 is the inter-intersection distance (second distance) Lsp2, and the distance between the first intersection CP1 and the second intersection CP2 on the imaginary plane VA in the cases shown in Figures 9 and 10 is the inter-intersection distance (second distance) Lsp3. The driver D has the illusion that the front-to-rear dimension of the image IPC is larger when the distance between the first intersection CP1 and the second intersection CP2 is the inter-intersection distance Lsp2 than when the distance between the first intersection CP1 and the second intersection CP2 is the inter-intersection distance Lsp1. Similarly, driver D is under the illusion that the front-to-back dimension of the image IPC is larger when the distance between the first intersection CP1 and the second intersection CP2 is intersection distance Lsp3 than when the distance between the first intersection CP1 and the second intersection CP2 is intersection distance Lsp2.

[0040] In this way, when the vehicle 12 is executing ACC, the display control ECU 26 controls the position of the second intersection CP2 in the virtual display area HA so that the inter-intersection distances Lsp1, Lsp2, and Lsp3 between the first intersection CP1 and the second intersection CP2 are longer when the inter-intersection distance between the vehicle 12 and the preceding vehicle 40 is a value longer than a predetermined value (for example, inter-intersection distance LB2) than when the inter-intersection distance is a predetermined value (for example, inter-intersection distance LB1). More specifically, the display control ECU 26 controls the position of the second intersection CP2 so that the inter-intersection distances Lsp1, Lsp2, and Lsp3 become longer as the inter-intersection distance between the vehicle 12 and the preceding vehicle 40 becomes longer.

[0041] (Action and Effects) Next, the operation and effects of this embodiment will be described.

[0042] Next, a description will be given of the processing executed by the CPU 26A of the display control ECU 26. The CPU 26A repeatedly executes the processing of the flowchart shown in FIG.

[0043] In step S10 (hereinafter, the letter "step" will be omitted), the CPU 26A determines whether or not the vehicle 12 (ADAS-ECU 36) is executing ACC. If the determination in S10 is Yes, the CPU 26A proceeds to S11.

[0044] In S11, the CPU 26A determines whether or not the relative position of the preceding vehicle 40 with respect to the vehicle 12 is recognized based on the information received from the ADAS-ECU 36. If the determination in S11 is Yes, the CPU 26A proceeds to S12.

[0045] In S12, the CPU 26A uses the information received from the ADAS-ECU 36 to calculate the position of the first intersection point CP1 on the imaginary plane VA.

[0046] After completing the process of S12, the CPU 26A proceeds to S13 and calculates a second intersection point CP2, which is the position of the center point of the ACC image VIacc on the virtual display area HA.

[0047] After completing the process of S13, the CPU 26A proceeds to S14, where it causes the projection device 30 to project the AR image VI. As a result, the ACC image VIacc is formed on the virtual display area HA.

[0048] When the determination in S10 or S11 is No, or when the process of S14 is completed, the CPU 26A temporarily ends the process of the flowchart in FIG.

[0049] Here, it is assumed that the inter-intersection distance remains constant at Lsp1 even if the inter-vehicle distance between the vehicle 12 and the preceding vehicle 40 changes. In this case, for example, as shown in Fig. 9, when the distance between the vehicle 12 and the preceding vehicle 40 becomes inter-vehicle distance LB3, the position (area) that is away from the first intersection CP1 by the inter-intersection distance Lsp1 is the upper area of ​​the virtual plane VA, as shown by the virtual line in Fig. 10. However, the ACC image VIacc can only be formed in the virtual display area HA. ​​That is, in this case, the display control device 10 cannot display the ACC image VIacc in the virtual display area HA.

[0050] In contrast, the display control device 10 of this embodiment controls the position of the second intersection point CP2 on the virtual display area HA so that the longer the inter-vehicle distance between the vehicle 12 and the preceding vehicle 40, the longer the inter-vehicle distances Lsp1, Lsp2, and Lsp3 become when the vehicle 12 is executing ACC. Therefore, even if the driver D of the vehicle 12 visually recognizes the preceding vehicle 40 through the space outside the virtual display area HA (the upper area of ​​the virtual surface VA) due to the longer inter-vehicle distance between the vehicle 12 and the preceding vehicle 40, the display control device 10 can easily display the ACC image VIacc corresponding to the preceding vehicle 40 in the virtual display area HA.

[0051] 12 and 13 when the inter-vehicle distance between the vehicle 12 and the preceding vehicle 40 changes, if the amount of change in the angle θe between the first straight line L1 and the straight line L2f shown in Figs. 12 and 13 is small, the driver D is unlikely to feel that the distance between the ACC image VIAcc and the preceding vehicle 40 has changed. In other words, if the amount of change in the angle θe is large, the driver D is likely to feel that the distance between the ACC image VIAcc and the preceding vehicle 40 has changed. The angle θe is the angle θ1 between the vertical straight line Lv passing through the eyeball reference position Pe and the first straight line L1 minus the angle θ2 between the straight line LV and the straight line L2f.

[0052] FIG. 12 shows a case where the distance between the vehicle 12 and the preceding vehicle 40 is the inter-vehicle distance LB1. In this case, the distance between the intersection CLP1 between the road 50 and the first straight line L1 and the intersection CLP2 between the road 50 and the straight line L2f is LS. FIG. 13 shows a case where the distance between the vehicle 12 and the preceding vehicle 40 is the inter-vehicle distance LB2. The straight line L2f shown by the imaginary line is a straight line passing through the front end point Pf of the ACC image VIacc and the eyeball reference position Pe when the distance between the intersection CLP1 and the intersection CLP2 is LS. In this case, the angle between the first straight line L1 and the straight line L2f is θef. This angle θef is obviously larger than the angle θe in FIG. 12. Therefore, if the distance LS does not change when the inter-vehicle distance changes from LB1 in FIG. 12 to LB2 in FIG. 13, the driver D is likely to feel that the distance between the ACC image VIacc and the preceding vehicle 40 has changed.

[0053] In contrast, in this embodiment, when the distance between the vehicle 12 and the preceding vehicle 40 is the inter-vehicle distance LB2, the angle θ2 is set so that the distance between the intersection points CLP1 and CLP2 is LSA, which is longer than LS. In other words, the position of the second intersection point CP2 in the virtual display area HA is controlled by the display control ECU 26 so that the distance between the intersection points CLP1 and CLP2 is LSA and the inter-intersection distance is Lsp2. In this case, as shown in FIG. 13, the angle between the first straight line L1 and the straight line L2f is approximately the same as θe.

[0054] In this embodiment, when the distance between the vehicle 12 and the preceding vehicle 40 is long, the inter-point distances Lsp1, Lsp2, and Lsp3 are long, and when the distance between the vehicle 12 and the preceding vehicle 40 is short, the inter-point distances Lsp1, Lsp2, and Lsp3 are short. Therefore, when the distance between the vehicle 12 and the preceding vehicle 40 changes, the driver D does not easily perceive that the distance between the ACC image VIacc and the preceding vehicle 40 has changed.

[0055] The display control device 10, the display control method, and the program according to the embodiment have been described above, but the design of these can be appropriately modified without departing from the gist of the present invention.

[0056] For example, an AR image corresponding to a relative moving object moving in front of the vehicle 12 relative to the vehicle 12 may be different from the ACC image VIacc. For example, this AR image may be an AR image corresponding to a pedestrian. Also, this AR image may be a relative moving object located in front of the vehicle 12 and fixed to the road surface. Such relative moving objects include, for example, stop lines and lane marks (division lines) painted on the road surface.

[0057] The inter-node distance may be changed in stages according to the length of the inter-vehicle distance between the vehicle 12 and the preceding vehicle 40. For example, when the inter-vehicle distance is 30 m or less, the inter-node distance may be set to Lsp1, when the inter-vehicle distance is longer than 30 m and shorter than 60 m, the inter-node distance may be set to Lsp2, and when the inter-vehicle distance is longer than 60 m, the inter-node distance may be set to Lsp3.

[0058] The ACC image VIacc may be a 2D AR image.

[0059] When the vehicle 12 performs CACC, an ACC image VIacc corresponding to the preceding vehicle may be formed.

[0060] [Note] The display control device of the present invention may be any combination of the following configurations 1 to 3. <Configuration 1> A display control device mounted on a vehicle that forms, in a virtual display area set in front of the vehicle, an AR image corresponding to a relative moving body that is located ahead of the vehicle and moves relatively to the vehicle, wherein an intersection point between a straight line connecting a reference position of an eyeball of a driver of the vehicle and the relative moving body and a virtual surface that includes the virtual display area and is wider than the virtual display area is defined as a first intersection point, and an intersection point between a straight line connecting the reference position of the eyeball and the AR image and the virtual display area is defined as a second intersection point, and the display control device controls the position of the second intersection point so that a second distance, which is the distance between the first intersection point and the second intersection point, is longer when the first distance, which is the distance between the relative moving body and the vehicle, is longer than a predetermined value than when the first distance, which is the distance between the relative moving body and the vehicle, is the predetermined value. <Configuration 2> A display control device that makes the second distance longer as the first distance becomes longer. <Configuration 3> A display control device that changes the second distance in a stepwise manner according to the length of the first distance. Furthermore, the display control method of the present invention may be a combination of the following configuration 4 and at least one of configurations 1 to 3. <Configuration 4> A display control method for forming, in a virtual display area set in front of a vehicle, an AR image corresponding to a relative moving body that is located ahead of the vehicle and moves relatively to the vehicle, wherein an intersection point between a straight line connecting a reference position of an eyeball of a driver of the vehicle and the relative moving body and a virtual surface that includes the virtual display area and is wider than the virtual display area is defined as a first intersection point, and an intersection point between a straight line connecting the reference position of the eyeball and the AR image and the virtual display area is defined as a second intersection point, and the display control method controls the position of the second intersection point so that a second distance, which is the distance between the first intersection point and the second intersection point, is longer when the first distance, which is the distance between the relative moving body and the vehicle, is longer than a predetermined value than when the first distance, which is the distance between the vehicle and the relative moving body, is a predetermined value. Furthermore, the program of the present invention may be a combination of the following configuration 5 and at least one of configurations 1 to 3. <Configuration 5> A program that causes a computer to execute a process of forming, in a virtual display area set in front of a vehicle, an AR image corresponding to a relative moving body that is located in front of the vehicle and moves relatively to the vehicle, wherein when an intersection of a straight line connecting a reference position of an eyeball of a driver of the vehicle and the relative moving body and a virtual surface that includes the virtual display area and is wider than the virtual display area is defined as a first intersection, and an intersection of a straight line connecting the reference position of the eyeball and the AR image and the virtual display area is defined as a second intersection, the program causes the computer to execute a process of controlling a position of the second intersection so that a second distance, which is the distance between the first intersection and the second intersection, is longer when the first distance, which is the distance between the relative moving body and the vehicle, is longer than a predetermined value than when the first distance is a predetermined value. [Explanation of symbols]

[0061] 10 Display control device 12 Vehicles 40 Leading vehicle (relative moving object) D. Driver HA Virtual Display Area VA Virtual Plane VI AR image (virtual image) Pe eyeball reference position L1 1st straight line (straight line) L2 2nd straight line CP1 1st intersection CP2 2nd intersection LB1 LB2 LB3 Inter-vehicle distance (1st distance) Lsp1 Lsp2 Lsp3 Intersection distance (second distance)

Claims

1. A display control device mounted on a vehicle, the display control device forming an AR image corresponding to a relative moving object located in front of the vehicle and moving relatively to the vehicle in a virtual display area set in front of the vehicle, When an intersection point between a straight line connecting the eyeball reference position of the driver of the vehicle and the relative moving body and a virtual surface including the virtual display area and wider than the virtual display area is defined as a first intersection point, and an intersection point between a straight line connecting the eyeball reference position and the AR image and the virtual display area is defined as a second intersection point, A display control device that controls the position of the second intersection so that the second distance, which is the distance between the first intersection and the second intersection, is longer when the first distance is longer than a predetermined value than when the first distance is a predetermined value, regardless of the magnitude of the first distance, which is the distance between the relative moving body and the vehicle.

2. The display control device according to claim 1 , wherein the second distance is increased as the first distance increases.

3. The display control device according to claim 1 , wherein the second distance is changed in a stepwise manner in accordance with the length of the first distance.

4. 1. A display control method for forming an AR image corresponding to a relative moving object that is located ahead of a vehicle and moves relatively to the vehicle, in a virtual display area set ahead of the vehicle, the method comprising: When an intersection point between a straight line connecting the eyeball reference position of the driver of the vehicle and the relative moving body and a virtual surface including the virtual display area and wider than the virtual display area is defined as a first intersection point, and an intersection point between a straight line connecting the eyeball reference position and the AR image and the virtual display area is defined as a second intersection point, A display control method that controls the position of the second intersection so that a second distance, which is the distance between the first intersection and the second intersection, is longer when the first distance is longer than a predetermined value than when the first distance is a predetermined value, regardless of the magnitude of a first distance, which is the distance between the relative moving body and the vehicle.

5. A program for causing a computer to execute a process of forming an AR image corresponding to a relative moving object located in front of a vehicle and moving relatively to the vehicle in a virtual display area set in front of the vehicle, When an intersection point between a straight line connecting the eyeball reference position of the driver of the vehicle and the relative moving body and a virtual surface including the virtual display area and wider than the virtual display area is defined as a first intersection point, and an intersection point between a straight line connecting the eyeball reference position and the AR image and the virtual display area is defined as a second intersection point, a process of controlling a position of the second intersection such that a second distance, which is a distance between the first intersection and the second intersection, is longer when the first distance is longer than a predetermined value than when the first distance is a predetermined value, regardless of the magnitude of a first distance, which is a distance between the relative moving body and the vehicle; A program for causing the computer to execute the above.

Images