Vehicle display control device, vehicle display control system, vehicle, vehicle display control method, and program

Abstract

To realize a vehicular display control apparatus, a vehicular display control system, a vehicle, a vehicular display control method, and a program, which enable an occupant to intuitively grasp a travel route of a vehicle.SOLUTION: A vehicular display control apparatus includes: a transit point information obtainment part for obtaining transit point information relating to multiple transit points set with intervals along a travel-planned route of a vehicle; and an image display part for displaying, overlapping with foregrounds, images going toward travel route change-planned points along a virtual line inter-connecting the transit points in a display zone provided in front of an occupant.SELECTED DRAWING: Figure 6

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a vehicle display device that displays an image on a windshield by means of a head-up display device. In this vehicle display device, a vehicle turning guidance point is detected, and a guidance mark is superimposed and displayed on the road surface before and after the guidance point.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the device described in Patent Document 1 above, the driver cannot intuitively grasp the route up to the route change planned point where the vehicle's route is to be changed, and there is room for improvement.

[0005] An object of the present invention is to provide a vehicle display control device, a vehicle display control system, a vehicle, a vehicle display control method, and a program that enable a driver to intuitively grasp the vehicle's route.

Means for Solving the Problems

[0006] The vehicle display control device according to claim 1 includes a relay point information acquisition unit that acquires relay point information regarding a plurality of relay points set at intervals along a planned travel route of a vehicle, and an image display unit that superimposes and displays, in a display area provided in front of a passenger, an image heading to a planned route change point along a virtual line connecting the relay points with the planned route change point in the foreground. A priority setting unit that sets the priority of the relay point information so that the priority of the relay point information before and after the planned route change point becomes high; having and when the total data size of the acquired relay point information exceeds a predetermined data size, the relay point information acquisition unit deletes some of the relay point information and deletes it in order from the relay point information with a low priority .

[0007] In the vehicle display control device according to claim 1, an image heading to the planned route change point is superimposed and displayed in the display area provided in front of the occupant. Thereby, the occupant can recognize the planned route change point.

[0008] In addition, since the image is superimposed and displayed so as to head to the planned route change point along an imaginary line connecting a plurality of relay points set at intervals along the planned travel route, the occupant can intuitively recognize the route to the planned travel route. Here, the "superimposed display" is not limited to a configuration in which the superimposed display is performed on the foreground visible through the windshield, but is a concept that widely includes a configuration in which an image is superimposed on the foreground displayed on a display in the vehicle interior or the like. Further, the "planned route change point" here refers to a point where a route change such as a right or left turn or a lane change is planned in the planned travel route of the vehicle.

[0009] Deletion

[0010] Also Since the total data size of the relay point information does not exceed a predetermined data size, it is not necessary to affect other information processing performed in the vehicle.

[0011] Deletion

[0012] Furthermore Since the relay point information acquisition unit deletes the relay point information with low priority in order, it is possible to suppress the deletion of important information for displaying the image.

[0013] Deletion

[0014] Furthermore also The relay point information before and after the planned route change point is difficult to be deleted. Thereby, accurate images can be surely displayed before and after the planned route change point.

[0015] Claim 2The vehicle display control device according to [claim number] is, in claim 1, wherein the display area is a part of the windshield glass on which the image is projected by the head-up display device.

[0016] Claim 2 In the vehicle display control device according to [claim number], since an image is projected onto the windshield glass, the passenger can recognize the route to the planned route change point without significantly moving the line of sight directed forward of the vehicle.

[0017] Claim 3 The vehicle display control system according to [claim number] includes the vehicle display control device according to claim 1 Or 2 and a display device that displays the image in the display area.

[0018] Claim 4 The vehicle according to [claim number] includes the vehicle display control system according to [claim number] 3 described above.

[0019] Claim 5 The vehicle display control method according to [claim number] acquires relay point information regarding a plurality of relay points set at intervals along the planned travel route of the vehicle, and superimposes and displays, in the display area provided in front of the passenger, an image heading toward the planned route change point along a virtual line connecting the relay points in the foreground. A vehicle display control method, which sets the priority of the relay point information so that the priority of the relay point information before and after the planned route change point becomes high, and when the total data size of the acquired relay point information exceeds a predetermined data size, deletes some of the relay point information and deletes it in order from the relay point information with a low priority.

[0020] Claim 6 The program according to [claim number] causes a computer to execute a process of acquiring relay point information regarding a plurality of relay points set at intervals along the planned travel route of the vehicle, and superimposing and displaying, in the display area provided in front of the passenger, an image heading toward the planned route change point along a virtual line connecting the relay points in the foreground. A program that sets the priority of the relay point information so that the priority of the relay point information before and after the planned route change point becomes high, and when the total data size of the acquired relay point information exceeds a predetermined data size, deletes some of the relay point information and deletes it in order from the relay point information with a low priority, and causes a computer to execute the process .

Advantages of the Invention

[0021] As described above, according to the vehicle display control device, vehicle display control system, vehicle, vehicle display control method, and program according to the present invention, the vehicle route can be intuitively grasped by the passenger.

Brief Description of the Drawings

[0022]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0023] A vehicle display system 10 including a vehicle display control device 28 according to the embodiment will be described with reference to the drawings. The arrow UP shown in FIG. 1 indicates the upper side in the vehicle vertical direction, and the arrow RH indicates the right side in the vehicle width direction. The vertical direction and the horizontal direction in the following description respectively mean the up and down in the vehicle vertical direction and the left and right in the vehicle width direction.

[0024] As shown in FIG. 1, an instrument panel 14 is provided at the front part of the vehicle interior in the vehicle 12. The instrument panel 14 extends in the vehicle width direction, and a steering wheel 16 is provided on the right side of the vehicle of the instrument panel 14. That is, in this embodiment, as an example, it is a right-hand drive vehicle with a steering wheel 16 provided on the right side, and the driver's seat is set on the right side of the vehicle.

[0025] A windshield glass 18 is provided at the front end of the instrument panel 14. The windshield glass 18 extends in the vehicle's vertical direction and vehicle width direction to partition the interior of the passenger compartment from the exterior of the passenger compartment.

[0026] The right end of the windshield glass 18 in the vehicle is fixed to the front pillar 20 on the right side of the vehicle. The front pillar 20 extends in the vehicle's vertical direction, and the windshield glass 18 is fixed to the inner end of the front pillar 20 in the vehicle width direction. Also, the front end of the front side glass 22 is fixed to the outer end of the front pillar 20 in the vehicle width direction. Note that the left end of the windshield glass 18 in the vehicle is fixed to a front pillar on the left side of the vehicle (not shown).

[0027] Here, the instrument panel 14 is provided with a first display unit 24 having an image display area V1. The first display unit 24 is constituted by a meter display provided in front of the driver's seat on the right side of the vehicle of the instrument panel 14. The first display unit 24 is connected to various meter devices mounted on the vehicle 12 and is provided at a position that comes into the field of view when the driver looks straight ahead.

[0028] The instrument panel 14 is provided with a second display unit 25 having an image display area V2. The second display unit 25 is constituted by a center display disposed at the center in the vehicle width direction of the instrument panel 14.

[0029] The windshield glass 18 is provided with a third display unit 26 having a display area V3 for an image. The third display unit 26 is set on the upper side of the vehicle of the first display unit 24, and is constituted by a projection surface projected by a head-up display device 46 (see FIG. 2) as a display device. Specifically, on the front side of the vehicle of the instrument panel 14, a head-up display device 46 capable of projecting an image is provided, and the head-up display device 46 is configured to project an image onto the third display unit 26 of the windshield glass 18. That is, the third display unit 26 is a part of the windshield glass 18 that is the projection surface of the head-up display device 46.

[0030] Here, the vehicle 12 is provided with a vehicle display control device 28 that constitutes a vehicle display system 10. The vehicle display control device 28 of the present embodiment is, for example, an ECU (Electronic Control Unit) that performs various controls.

[0031] (Hardware Configuration of Vehicle Display Control Device 28) As shown in FIG. 2, the vehicle display control device 28 includes a CPU (Central Processing Unit: processor) 30, a ROM (Read Only Memory) 32, a RAM (Random Access Memory) 34, a storage 36, a communication interface (communication I / F) 38, and an input / output interface (input / output I / F) 40. Each configuration is communicably connected to each other via an internal bus 42.

[0032] The CPU 30 is a central arithmetic processing unit, and executes various programs and controls each unit. That is, the CPU 30 reads a program from the ROM 32 or the storage 36, and executes the program using the RAM 34 as a work area. Further, the CPU 30 performs control of each of the above configurations and various arithmetic processes according to the program recorded in the ROM 32 or the storage 36.

[0033] The ROM 32 stores various programs and various data. The RAM 34 temporarily stores programs or data as a working area. The storage 36 is composed of an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and is a non-volatile recording medium that stores various programs including an operating system and various data. In the present embodiment, a display program and the like for performing image display processing, relay point information acquisition processing, etc. are stored in the ROM 32 or the storage 36.

[0034] The communication I / F 38 is an interface for the vehicle display control device 28 to communicate with a server and other devices. For example, standards such as CAN (Controller Area Network), Ethernet (registered trademark), LTE (Long Term Evolution), FDDI (Fiber Distributed Data Interface), Wi-Fi (registered trademark) are used. The line-of-sight detection sensor 44, the first display unit 24, the second display unit 25, and the head-up display device 46 are connected to the input / output interface 38. Further, an image is projected onto the third display unit 26 by the head-up display device 46.

[0035] The line-of-sight detection sensor 44 is provided, for example, on the instrument panel 14 and is arranged facing the face of an occupant (driver) seated in the driver's seat. Then, the line-of-sight detection sensor 44 detects the line-of-sight direction of the occupant by using principles such as the corneal reflection method and the scleral reflection method by recognizing the eyes of the occupant.

[0036] (Functional configuration of the vehicle display control device 28) The vehicle display control device 28 realizes various functions by using the above hardware resources. The functional configuration realized by the vehicle display control device 28 will be described with reference to FIG. 3.

[0037] As shown in FIG. 3, the vehicle display control device 28 includes, as functional components, a relay point information acquisition unit 54, a priority setting unit 56, and an image display unit 58. Each functional component is realized by the CPU 30 reading and executing a program stored in the ROM 32 or the storage 36.

[0038] The relay point information acquisition unit 54 acquires relay point information regarding a plurality of relay points set at intervals along the planned travel route of the vehicle 12. Specifically, when a destination is set by a navigation system or the like, a planned travel route to the destination is set. Then, the relay point information acquisition unit 54 acquires relay point information under a predetermined condition while the vehicle 12 is traveling on the set planned travel route. The relay points acquired by the relay point information acquisition unit 54 will be described with reference to FIG. 4.

[0039] FIG. 4 is a schematic view of the vehicle 12 and the planned travel route as seen from above. As shown in this FIG. 4, a plurality of relay points N1 to N5 are set on the planned travel route of the vehicle 12. Also, the vehicle 12 and the relay point N1 are connected by a link L1 as a virtual line, and the relay point N1 and the relay point N2 are connected by a link L2 as a virtual line. Further, the relay point N2 and the relay point N3 are connected by a link L3 as a virtual line, and the relay point N3 and the relay point N4 are connected by a link L4 as a virtual line. Furthermore, the relay point N4 and the relay point N5 are connected by a link L5 as a virtual line.

[0040] Here, in the present embodiment, relay points and links are set in advance throughout the map data held by the vehicle 12. Also, the intervals between the relay points are not unified, and the relay points are set as appropriate according to the shape of the road and the like. Also, since the relay point N3 shown in FIG. 4 indicates an intersection where the vehicle 12 makes a left turn, the relay point N3 is a planned route change point where the route of the vehicle 12 is changed.

[0041] Predetermined relay point information is stored in relay points N1 to N5 and links L1 to L5 respectively. In this embodiment, as an example, one piece of relay point information is set for link L1 and relay point N1. Similarly, relay point information for link L2 and relay point N2, relay point information for link L3 and relay point N3, relay point information for link L4 and relay point N4, and relay point information for link L5 and relay point N5 are set respectively.

[0042] Each piece of relay point information includes, for example, information such as road type, one-way traffic presence / absence, gradient, road shape, travel direction, number of lanes, and presence / absence of a median strip. And the relay point information acquisition unit 54 acquires the relay point information set before and after relay point N3 which is the planned route change point. The relay point information acquisition unit 54 of this embodiment acquires the above five pieces of relay point information as the relay point information set before and after relay point N3.

[0043] Also, when the total data size of the acquired relay point information exceeds a predetermined data size, the relay point information acquisition unit 54 of this embodiment deletes some of the relay point information. Specifically, the relay point information acquisition unit 54 deletes the relay point information in order from the relay point information with the lowest priority. The priority of the relay point information is set by the priority setting unit 56.

[0044] The priority setting unit 56 shown in FIG. 3 sets the priority of the relay point information acquired by the relay point information acquisition unit 54. Specifically, the priority setting unit 56 of this embodiment sets a high priority for the relay point information before and after the planned route change point. In the case of the example shown in FIG. 4, the priority of the relay point information set before and after relay point N3 which is the planned route change point is set higher than other priorities. That is, the two pieces of relay point information, namely, the relay point information of link L3 entering relay point N3 and relay point N3, and the relay point information of link L4 exiting relay point N3 and relay point N4, are set to the highest priority.

[0045] Further, the priority setting unit 56 sets the priority of the relay point information of link L2 and relay point N2 to be high following the above two relay point information. In this embodiment, it is set so that only the two relay point information set to the highest priority does not exceed a predetermined data size.

[0046] The image display unit 58 superimposes and displays, in the foreground, an image heading to the route change planned point along the virtual line connecting the relay points in the display area provided in front of the occupant. Specifically, in the example shown in FIG. 4, when the relay point information acquisition unit 54 acquires the above five pieces of relay point information, the image display unit 58 superimposes and displays, in the foreground, an image heading to relay point N3, which is the route change planned point, along the virtual line connecting relay points N1 to N5. Also, in this embodiment, as an example, the image display unit 58 displays an image in the display area V3 of the third display unit 26. Further, the image display unit 58 calculates the superimposing position based on the line-of-sight direction of the occupant acquired from the line-of-sight detection sensor 44 in order to display the image at the tip of the occupant's line of sight.

[0047] FIG. 5 is a diagram showing a display example in which an image is displayed in the display area V3. As shown in this FIG. 5, the scenery in front of the vehicle can be seen through the windshield glass 18 in the display area V3. For convenience of explanation, only the scenery visible in the display area V3 is illustrated, but actually, the scenery in front of the vehicle is not separated by the boundary of the third display unit 26.

[0048] In the display area V3, two images M1 and an image M2 are displayed by the head-up display device 46. The image display unit 58 starts displaying the image M1 when the distance to the route change planned point becomes equal to or less than a preset distance.

[0049] When passing through the image display start point, the image display unit 58 displays the two images M1 in animation so as to head to the relay point N3 along the virtual line as seen from the occupant. Also, in FIG. 4, when the planned driving route is curved like the relay point N2, the image M1 is displayed so as to head to the relay point N3 while drawing a smooth curve along the planned driving route.

[0050] Also, when some relay point information data is deleted by the relay point information acquisition unit 54, the image display unit 58 displays the image M1 based on the remaining relay point information excluding the deleted relay point information. For example, in FIG. 4, when the relay point information of link L5 and relay point N5 is deleted, since all the relay point information up to relay point N3 remains, it does not affect the animation of the image M1 displayed by the image display unit 58.

[0051] Also, for example, when the relay point information of link L1 and relay point N1 is deleted, the image display unit 58 displays the animation of the image M1 based on the relay point information excluding the relay point information of link L1 and relay point N1. In this case, since the virtual line connecting the relay points becomes the virtual line connecting relay points N2, N3, N4, and N5, the image display unit 58 displays the image M1 in animation so as to go from vehicle 12 to relay point N2. That is, in this case, the virtual line connecting vehicle 12 and relay point N1 is not considered.

[0052] The current speed of the vehicle detected by a vehicle speed sensor (not shown) is displayed on mark M2. Note that mark M2 may not be displayed.

[0053] (Operation) Next, the operation of this embodiment will be described.

[0054] (Image display process) An example of the image display process for displaying mark M1 on the third display unit 26 which is the projection surface of the head-up display device 46 will be described using the flowchart shown in FIG. 6. This image display process is executed by the CPU 30 reading the display program from the ROM 32 or the storage 36, expanding it in the RAM 34, and executing it. Also, the image display process is executed at the timing when the vehicle approaches a predetermined distance to the route change planned point.

[0055] In step S102, the CPU 30 acquires the information of the relay points. Specifically, the CPU 30 acquires the relay point information set before and after the planned route change point by the function of the relay point information acquisition unit 54. Note that the information of the relay points is stored in the map data held by the vehicle or in an external server.

[0056] In step S104, the CPU 30 sets the priority of the relay point information. Specifically, the CPU 30 sets the priority of the relay point information based on a predetermined rule by the function of the priority setting unit 56. For example, the priority setting unit 56 sets a higher priority for the relay point information before and after the planned route change point.

[0057] In step S106, the CPU 30 determines whether the total data size of the relay point information acquired by the relay point information acquisition unit 54 is within a predetermined data size. If the total data size of the relay point information is within the predetermined data size, step S106 is affirmed and the process proceeds to step S110. If the total data size of the relay point information exceeds the predetermined data size, step S106 is negated and the process proceeds to step S108.

[0058] In step S108, the CPU 30 deletes some of the relay point information. Specifically, the relay point information is deleted in order from the relay point information with the lowest priority. For example, even if the relay point information with the lowest priority is deleted, if the total data size of the relay point information still exceeds the predetermined data size, the relay point information with the next lowest priority is deleted. That is, the CPU 30 deletes the relay point information until the total data size of the relay point information is within the predetermined data size. Then, the process proceeds to step S110.

[0059] In step S110, the CPU 30 sets a virtual line. Specifically, the CPU 30 sets a virtual line connecting the relay points included in the relay point information acquired by the relay point information acquisition unit 54. Note that the virtual line is set between the current position of the vehicle and the planned route change point, but the virtual line may be set up to a relay point beyond the planned route change point. Also, the relay point information deleted in step S108 is not reflected in the setting of the virtual line.

[0060] In step S112, the CPU 30 displays an image. Specifically, the CPU 30 displays, by means of the function of the image display unit 58, as shown in FIG. 5, an animation such that the image M1 is directed toward the relay point along the virtual line as seen by the occupant. Then, the CPU 30 ends the image display process.

[0061] As described above, in the vehicle display control device 28 according to the present embodiment, the image M1 heading toward the planned route change point is superimposed and displayed in the display area V3 provided in front of the occupant. Thereby, the occupant can recognize the planned route change point.

[0062] Also, in the present embodiment, since the image M1 is superimposed and displayed along the virtual line connecting a plurality of relay points set at intervals along the planned travel route toward the planned route change point, the occupant can intuitively recognize the route up to the planned travel route.

[0063] Furthermore, in the present embodiment, since the total data size of the relay point information does not exceed a predetermined data size, it is not necessary to affect other information processing performed by the vehicle.

[0064] Furthermore, in the present embodiment, since the relay point information acquisition unit 54 deletes the relay point information in order from the relay point information with a low priority, it is possible to suppress the deletion of important information for displaying the image M1. As a result, even when a part of the relay point information is deleted, the animation of the image M1 can be correctly displayed.

[0065] In addition, in the present embodiment, the relay point information before and after the planned route change point is set to be difficult to be deleted. As a result, accurate image M1 can be surely displayed before and after the planned route change point.

[0066] Furthermore, in the present embodiment, since the image M1 is projected onto the windshield glass 18, the route up to the planned route change point can be recognized without the occupant significantly moving the line of sight directed forward of the vehicle.

[0067] As described above, the vehicle display control device 28 according to the embodiment has been described. However, it goes without saying that the present invention can be implemented in various modes without departing from the gist of the present invention. For example, in the above embodiment, as shown in FIG. 5, the image M1 is displayed in a substantially arrow shape, but the present invention is not limited to this, and the image may be displayed in other shapes. Also, in FIG. 5, two images M1 are displayed, but the present invention is not limited to this, and three or more images M1 may be displayed, or only one image M1 may be displayed.

[0068] Also, in the above embodiment, in FIG. 4, one relay point information is set at the link L1 and the relay point N1, but the present invention is not limited to this. For example, a configuration in which one relay point information is set at the relay point N1 may be adopted. In this case, the relay point information acquisition unit 54 acquires the information of the relay points N1 to N5. Also, the image display unit 58 may display an image along a virtual line connecting the relay points N1 to N5.

[0069] Furthermore, in the above embodiment, the configuration in which information is superimposed and displayed in the display area V3 of the third display unit 26 has been described, but the present invention is not limited to this. For example, a configuration in which information is superimposed and displayed in the display area V1 of the first display unit 24 or the display area V2 of the second display unit 25 may be adopted. In this case, the information is superimposed and displayed on an image of the periphery of the vehicle 12 captured by a front camera or the like.

[0070] Furthermore, the processing that the CPU 30 reads and executes in the above embodiment may be executed by various processors other than the CPU 30. Examples of the processor in this case include a PLD (Programmable Logic Device) whose circuit configuration can be changed after manufacturing, such as an FPGA (Field-Programmable Gate Array), and a dedicated electric circuit which is a processor having a circuit configuration dedicated to executing specific processing, such as an ASIC (Application Spec Integrated Circuit). Also, the above processing may be executed by one of these various processors, or may be executed by a combination of two or more processors of the same type or different types. For example, it may be executed by a plurality of FPGAs, or a combination of a CPU and an FPGA. More specifically, the hardware structure of these various processors is an electric circuit combining circuit elements such as semiconductor elements.

[0071] Also, in the above embodiment, the configuration is such that various data is stored in the storage 36, but it is not limited to this. For example, a non-temporary recording medium such as a CD (Compact Disk), a DVD (Digital Versatile Disk), or a USB (Universal Serial Bus) memory may be used as the storage unit. In this case, various programs and data and the like are stored in these recording media.

[0072] Furthermore, the processing flow described in the above embodiment is an example, and unnecessary steps may be deleted, new steps may be added, or the processing order may be changed within the scope not departing from the gist.

Explanation of Reference Numerals

[0073] 10 Vehicle display control system 12 Vehicle 18 Windshield glass 28 Vehicle display control device 46 Head-up display device (display device) 54 Relay point information acquisition unit 56 Priority setting unit 58 Image display unit M1 Image N1 Relay point N2 Relay point N3 Relay point, route change planned point N4 Relay point N5 Relay point V1 Display area V2 Display area V3 Display area

Claims

1. A relay point information acquisition unit that acquires relay point information regarding a plurality of relay points set at intervals along a planned travel route of a vehicle; An image display unit that superimposes and displays, in a display area provided in front of an occupant, an image heading to a planned route change point along a virtual line connecting the relay points, with the image in the foreground; A priority setting unit that sets the priority of the relay point information so that the priority of the relay point information before and after the planned route change point is increased; having; When the total data size of the acquired relay point information exceeds a predetermined data size, the relay point information acquisition unit deletes some of the relay point information and deletes it in order from the relay point information with the lowest priority. A display control device for a vehicle.

2. The display control device for a vehicle according to claim 1, wherein the display area is a part of a windshield glass on which the image is projected by a head-up display device.

3. The display control device for a vehicle according to claim 1 or 2, and A display device that displays the image in the display area; A display control system for a vehicle having the same.

4. A vehicle equipped with the display control system for a vehicle according to claim 3.

5. Acquire relay point information regarding a plurality of relay points set at intervals along the planned travel route of the vehicle, A display control method for a vehicle that superimposes and displays, in a display area provided in front of an occupant, an image heading to a planned route change point along a virtual line connecting the relay points, with the image in the foreground, Set the priority of the relay point information so that the priority of the relay point information before and after the planned route change point is increased, When the total data size of the acquired relay point information exceeds a predetermined data size, delete some of the relay point information and delete it in order from the relay point information with the lowest priority. A display control method for a vehicle.

6. obtaining relay point information regarding a plurality of relay points set at intervals along a planned travel route of a vehicle, superimposing and displaying, in a display area provided in front of an occupant, an image heading toward a planned route change point along a virtual line connecting the relay points, with the image as a foreground, A program for causing a computer to execute a process, setting priorities of the relay point information so that priorities of the relay point information before and after the planned route change point become higher, A program for causing a computer to execute a process of deleting some of the relay point information and deleting the relay point information with lower priorities in order when a total data size of the acquired relay point information exceeds a predetermined data size.

Images