JP2016024004A - Display device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a display device for vehicles with which it is possible to reliably make the crew recognize a branch path that constitutes a guidance route, even when there are a plurality of branch paths exist in the same direction of turning.SOLUTION: The display device is provided, in the area of a HUD image display unit 15 corresponding to the visual confirmation area on the windshield of an intersection when the crew of the vehicle visually confirms an intersection existing ahead of the vehicle through the windshield, with an image display control unit 28 for controlling the display of a route guidance image indicating the direction of turning at the intersection. on the basis of the route guidance information of the intersection given from the outside, when the intersection ahead of the vehicle is an intersection at which to be turned and a plurality of branch paths facing the direction of turning exist at the intersection at which to be turned, the image display control unit 28 displays a route guidance image on the HUD image display unit 15 in the visual confirmation area corresponding to a connection line facing from the reference position of the intersection to the route-guided branch path.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a display device for a vehicle that displays information on a windshield of a vehicle, and more particularly to a technique for easily recognizing the direction of a branch path that is a guide route.

  As a conventional example of a display device mounted on a vehicle, for example, one described in Patent Document 1 is known. In Patent Document 1, when a recommended route to a destination is set, a route guidance image for guiding the recommended route is displayed on a head-up display. Further, it is disclosed that a driver can recognize a recommended route when detouring an intersection by displaying a route guidance image of another route different from the recommended route in a traffic jam or the like.

  In the display device for a vehicle described in Patent Document 1, as a route guidance image for guiding a turning direction at an intersection, only a left direction or a right direction is shown. For example, like a five-way road, the same turning When there are a plurality of branch roads in the direction (right direction or left direction), it may be impossible to recognize which branch road is being guided. Similarly, when there are two intersections within a short distance range, it may not be possible to determine which intersection is an intersection to turn.

JP 2013-257269 A

  As described above, in the conventional vehicular display device, when displaying the turning direction at the intersection, the route guidance image indicating the right direction or the left direction is simply displayed on the head-up display. When there are a plurality of branch roads, there is a problem that it is not possible to recognize which one of the plurality of branch roads is the route guidance route.

  The present invention has been made to solve such a conventional problem, and the object of the present invention is to ensure that even if there are a plurality of branch paths on the same turning direction side, the passenger is surely An object of the present invention is to provide a vehicular display device capable of recognizing a fork road as a guide route.

  In order to achieve the above object, the present invention corresponds to a visual recognition area that is an area on the window glass of the intersection when an occupant of the own vehicle visually recognizes the intersection existing in front of the own vehicle through the window glass. A display control unit that performs control to display a route guidance image indicating a turning direction at an intersection is provided in the area of the image display unit. Then, the display control unit, based on the route guidance information of the intersection, the intersection ahead of the host vehicle is the intersection to be turned, and there are a plurality of branch roads facing the turning direction at or near the intersection to be turned. If it exists, the route guidance image is displayed on the image display unit in the visual recognition area corresponding to the connecting line that faces the branch route that is route-guided from the reference position of the intersection.

  The vehicle display device according to the present invention sets a reference position at an intersection and detects a connecting line from the reference position toward the branch road. And the route guidance image which shows a turning direction is displayed on the image display part corresponding to this connection line. Therefore, even when there are a plurality of branch roads on the same turning direction side, it is possible for the occupant to reliably recognize the branch roads serving as the guide paths.

It is a block diagram which shows the structure of the display apparatus for vehicles which concerns on embodiment of this invention. It is a block diagram which shows the detailed structure of the display controller of the display apparatus for vehicles which concerns on embodiment of this invention. It is explanatory drawing which shows the principle which displays an image on the windshield of a vehicle using the display apparatus for vehicles which concerns on embodiment of this invention. It is a flowchart which shows the process sequence of the display apparatus for vehicles which concerns on 1st Embodiment of this invention. It is explanatory drawing which shows the image displayed on the video displayed through a windshield, and a HUD image display part of the display apparatus for vehicles which concerns on 1st Embodiment of this invention. It is explanatory drawing which shows the image displayed on the video displayed through a windshield, and a HUD image display part of the display apparatus for vehicles which concerns on 1st Embodiment of this invention. It is explanatory drawing which concerns on embodiment of this invention and shows the reference point set to an intersection. It is explanatory drawing which shows the connection line which concerns on embodiment of this invention and is set on the basis of a reference point. It is a flowchart which shows the process sequence of the display apparatus for vehicles which concerns on 2nd Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[Description of First Embodiment]
FIG. 1 is a block diagram illustrating a configuration of a vehicle display device and peripheral devices according to a first embodiment of the present invention, and FIG. 2 is a block diagram illustrating a detailed configuration of a display controller 14 illustrated in FIG. . As shown in FIG. 1, the vehicle display device 10 according to the first embodiment displays various kinds of information useful to the driver on a vehicle windshield (window glass). A HUD image display unit 15 (image display unit) having a display area of a HUD (Head-Up Display) image along with the display controller 14 that controls display of the HUD image on the HUD image display unit 15 is provided. The vehicle display device 10 includes a camera 11 (imaging unit). Further, the vehicle display device 10 is connected to a navigation device 16, a steering angle sensor 17, and a vehicle speed sensor 18 that are mounted on the vehicle.

  The camera 11 captures a video around the host vehicle and outputs the captured image data to the display controller 14.

  The navigation device 16 includes map data and a GPS function, and guides a recommended route to the destination input by the driver. Then, data indicating the guidance route is output to the display controller 14. Specifically, when guiding a right turn or a left turn at an intersection, turning information at the intersection is output to the display controller 14.

  The steering angle sensor 17 detects the steering angle when the steering of the host vehicle is operated, and outputs the detected steering angle data to the display controller 14. The vehicle speed sensor 18 detects the traveling speed of the host vehicle and outputs speed data to the display controller 14.

  Next, the detailed configuration of the display controller 14 will be described with reference to the block diagram shown in FIG. As shown in FIG. 2, the display controller 14 includes a white line position detection unit 21, an intersection position detection unit 22 (intersection detection unit), a connecting line setting unit 29, and a 2D coordinate conversion unit 23. In addition, a white line position calculation unit 24, an intersection position calculation unit 25, a route guidance image position calculation unit 26, a route guidance image formation unit 27, and an image display control unit 28 (display control unit) are provided. The display controller 14 can be configured as an integrated computer including a central processing unit (CPU), storage means such as RAM, ROM, and hard disk.

  The white line position detection unit 21 acquires image data around the host vehicle captured by the camera 11 and detects a white line included in the image data. The white line position detection unit 21 detects the luminance of each pixel included in the image data, and detects a pixel having a luminance higher than a preset upper limit luminance as a white line. As a result, a white line laid on a road surface such as a pedestrian crossing or a median strip can be detected. It is also possible to detect a white line using a method other than this. Then, the detected white line position data is output to the 2D coordinate conversion unit 23.

  The intersection position detection unit 22 detects an intersection existing ahead of the traveling road on which the host vehicle is traveling, based on the map data acquired from the navigation device 16 and the GPS data. Further, each branch path included in the detected intersection is detected. For example, when the intersection is a crossroad (four-way), a left turn branch road and a right turn branch road are detected.

  The connection line setting unit 29 sets a reference position of the intersection and sets a connection line from the reference position toward the branch path. Then, the set connection line position data is output to the 2D coordinate conversion unit 23. Here, the reference position of the intersection and the setting method of the connecting line will be described with reference to FIGS. FIGS. 7 and 8 are explanatory diagrams schematically showing an intersection where the host vehicle turns, and it is assumed that the host vehicle V1 is traveling on the road L0 in the direction of the arrow in the drawing. The intersection existing in front of the host vehicle is a five-way intersection, two branch roads L1 and L2 exist on the left side, and a branch path L3 exists on the right side. When the route to be guided is the branch road L1, the center point x1 of the road width of the branch road L1 is set, and a perpendicular line drawn from the center point x1 to the partition line (center line) of the travel road L0 is set. The intersection point is set as the reference position P1. In addition, this invention is not limited to this, It is good also considering another position as a reference position.

  Then, as shown in FIG. 8, the connecting line setting unit 29 sets a line from the reference position P1 toward the end x3 of the partition line of the branch path L1 as the connecting line h1. In addition, x3 shown in FIG. 8 and x1 shown in FIG. In a second embodiment to be described later, a line from the reference position P1 toward the edge x2 of the branch path L1 is set as the connection line h2. Furthermore, in a third embodiment to be described later, a line parallel to the partition line of the branch path L1 from the reference position P1 is set as the connecting line h3. Then, the position data of the connecting line set in the above procedure is output to the 2D coordinate conversion unit 23.

  The 2D coordinate conversion unit 23 is set by the three-dimensional data of the white line position detected by the white line position detection unit 21, the three-dimensional data of the intersection position detected by the intersection position detection unit 22, and the connection line setting unit 29. The three-dimensional data at the connected line position is converted into two-dimensional data. Then, the converted two-dimensional data is output to the white line position calculation unit 24 and the intersection position calculation unit 25.

  The white line position calculation unit 24 calculates the display position on the windshield of the white line laid on the road based on the two-dimensional data of the white line position. Specifically, the area on the windshield when the driver visually recognizes the white line through the windshield (through the window glass) is calculated. Hereinafter, a region on the windshield (on the window glass) when the vehicle occupant (driver) visually recognizes an object existing in front of the host vehicle is referred to as a “visual recognition region”. Therefore, the white line position calculation unit 24 calculates the position of the white line visual recognition area on the windshield.

  The intersection position calculation unit 25 calculates the position of the visual recognition area on the windshield of the intersection existing on the travel path on which the host vehicle travels based on the two-dimensional data of the intersection position. Furthermore, the position of the visual recognition area on the windshield of the connecting line at the intersection is calculated.

  The route guidance image position calculation unit 26 is an HUD image of a route guidance image for notifying the occupant of a right turn or a left turn based on the two-dimensional data of the intersection position and the guidance route of the host vehicle acquired from the navigation device 16. The display position on the display unit 15 is calculated.

  The route guidance image forming unit 27 performs a process of forming a route guidance image based on the position data of the connecting line. Specifically, route guidance images Q1 and Q2 shown in FIG. 5B are formed. Details of FIG. 5 will be described later.

  The image display control unit 28 (display control unit) generates an image to be displayed on the HUD image display unit 15 and projects the generated image on the HUD image display unit 15. Specifically, the HUD image corresponding to the visual recognition area which is the area on the windshield of the intersection when the passenger of the own vehicle visually recognizes the intersection existing in front of the own vehicle through the windshield (window glass). Control is performed to display a route guidance image indicating the turning direction at the intersection in the area of the display unit 15. Also, based on the route guidance information of the intersection given from the outside, the intersection in front of the host vehicle detected by the intersection position detection unit 22 is the intersection to be turned, and the turning direction is at or near the intersection to be turned. When there are a plurality of branch roads facing the side, control for displaying a route guidance image on the HUD image display unit 15 in the visual recognition area corresponding to the connecting line facing the route guidance route from the intersection reference position I do.

  FIG. 3 is an explanatory diagram schematically showing the configuration of the HUD image display unit 15 that displays the HUD image on the windshield 45 of the host vehicle and its peripheral devices. The HUD image display unit 15 is provided in a region on the windshield 45 that is visible to the driver, and projects the image data generated by the image display control unit 28 and irradiated. Specifically, the projection light of the image data irradiated from the image display control unit 28 is reflected by the mirrors 42 and 43 and projected onto a desired region of the HUD image display unit 15. At this time, when looking forward from the driver's eye point a1, an image display is performed so that the image 46 (for example, an intersection) ahead of the host vehicle and the route guidance image projected on the HUD image display unit 15 are aligned. The image display position is adjusted by the control unit 28.

  Next, the operation of the vehicle display device according to the present embodiment will be described with reference to the flowchart shown in FIG. 4 and the explanatory diagram shown in FIG. First, in step S11, the intersection position detection unit 22 detects the position of an intersection existing ahead of the host vehicle. In this process, based on the map data acquired from the navigation device 16 and the GPS data, an intersection position existing within a predetermined distance (for example, 100 m) from the host vehicle is detected. As a result, for example, as shown in FIG. 5A, an intersection that forms a five-way road is detected in front of the host vehicle. Note that the intersection position may be calculated based on an image captured by the camera 11.

  In step S <b> 12, the intersection position detection unit 22 determines whether there are a plurality of branch roads facing the turning direction of the own vehicle (the turning direction specified as the guide route) at or near the intersection existing in front of the own vehicle. Determine whether. For example, as shown in FIG. 5 (a), when the host vehicle is traveling on a travel route L0, a branch road L2 exists at a front intersection other than the branch road L1 that is a guide route. It is determined that there are a plurality of branch paths in the same direction, and a YES determination is made in step S12, and the process proceeds to step S13. If there is not more than one, the determination is NO and the process proceeds to step S21.

  In step S21, the 2D coordinate conversion unit 23 converts the three-dimensional position coordinate data of the intersection into two-dimensional position coordinate data.

  In step S22, the route guidance image position calculation unit 26 displays the route guidance image so as to display the route guidance image on the HUD image display unit 15 corresponding to the viewing area on the windshield of the intersection ahead of the host vehicle. A position correction amount is calculated.

  In step S23, the route guidance image position calculation unit 26 calculates coordinates indicating the display position of the route guidance image based on the correction amount calculated in the process of step S22.

  Thereafter, in step S24, the route guidance image forming unit 27 forms a route guidance image indicating the turning direction at the intersection to be displayed at the display position set in the process of step S23. In step S25, the image display control unit 28 displays the route guidance image on the HUD image display unit 15. In this case, since there is only one branch road in the direction in which the host vehicle turns at the intersection, the route guidance image can be an image that can recognize the turning direction.

  On the other hand, when there are a plurality of branch roads that branch in the same direction at the intersection ahead of the host vehicle, the white line position detection unit 21 acquires the position data of the white line captured by the camera 11 in step S13. Further, from the acquired position data of the white line, a white line indicating a partition line of the branch road that is the turning direction of the host vehicle is detected as a reference white line. For example, as shown in FIG. 5B, when the branch road that is the turning direction is the branch road L1, a partition line (white line of the center line) existing in this branch road is detected.

  In step S14, the 2D coordinate conversion unit 23 converts the three-dimensional position coordinate data of the intersection into two-dimensional position coordinate data.

  In step S15, the 2D coordinate conversion unit 23 converts the position coordinate data of the reference white line detected in the process of step S13 into two-dimensional position coordinate data.

  In step S <b> 16, the intersection position calculation unit 25 calculates the correction amount of the intersection position coordinates. In this process, based on the vehicle steering angle detected by the steering angle sensor 17 and the traveling speed of the host vehicle detected by the vehicle speed sensor 18, the correction amount of the intersection position acquired in the process of step S11 is calculated.

  In step S17, the white line position calculation unit 24 calculates a correction amount for the reference white line position. Also in this process, as in step S16, the white line position acquired in the process of step S13 based on the steering angle of the vehicle detected by the steering angle sensor 17 and the traveling speed of the host vehicle detected by the vehicle speed sensor 18. The amount of correction is calculated.

  In step S18, the intersection position calculation unit 25 calculates intersection reference position display coordinates. In this process, reference position coordinates of an intersection existing ahead of the host vehicle are calculated. The method for detecting the reference position coordinates is as described above, and the reference position P1 shown in FIG. 7 is calculated.

  In step S <b> 19, the white line position calculation unit 24 calculates the coordinates of the reference white line (the branch road partition line in the turning direction) based on the reference white line position correction amount.

  In step S <b> 20, the route guidance image position calculation unit 26 calculates display coordinates when the route guidance image is displayed on the HUD image display unit 15. In this process, display coordinates of an image indicating a direction facing forward with respect to the traveling path of the host vehicle are calculated. Specifically, the coordinates for displaying the route guidance image Q1 shown in FIG. 5B are calculated. Further, as shown in FIG. 8, a route along a connecting line (connecting line h <b> 1 in FIG. 8) defined as a line from the reference position P <b> 1 of the intersection to the tip of the white line of the branch road L <b> 1 to be turned. The display coordinates of the guide image are calculated. Specifically, the coordinates for displaying the route guidance image Q2 shown in FIG. 5B are calculated.

  In step S24, the image display control unit 28 forms a route guidance image. In step S25, the image display control unit 28 displays the route guidance image formed in step S24 on the HUD image display unit 15. In this way, a route guidance image toward the branch road to be turned can be displayed on the HUD image display unit 15.

  Hereinafter, with reference to the explanatory views shown in FIG. 5 and FIG. 6, an image that the occupant visually recognizes through the windshield and each image displayed on the HUD image display unit 15 provided along the windshield will be described. .

  In FIG. 5 (a), there is an intersection within 100 m (predetermined distance) ahead of the host vehicle, and there are two branch roads L1 and L2 on the left side with respect to the traveling path L0 of the host vehicle. The case where the branch path L1 is a guidance route by the navigation apparatus 16 is shown. In such a case, an intersection reference position P1 is set on the partition line of the traveling road L0, and a connection line (see h1 in FIG. 8) that points from the reference position P1 to the end of the branch line of the branch road L1. A route guidance image is displayed along the screen. Specifically, as shown in FIG. 5 (b), three triangular route guidance images Q2 are displayed on the windshield of the host vehicle. As described above, the route guidance image Q2 displayed along the partition line h1 shown in FIG. 8 accurately indicates the direction of the branch path L1 that is the branch path to be turned. The person can surely recognize that the branch path being route-guided is the branch path L1. Therefore, it can be prevented from being mistaken for the branch path L2.

  Thus, in the vehicle display device 10 according to the first embodiment of the present invention, the reference position P1 is set at the intersection, and the connecting line h1 from the reference position P1 toward the branch path L1 is detected. Then, a route guidance image Q2 indicating the turning direction is displayed on the HUD image display unit 15 corresponding to the connecting line h1. Therefore, even when there are a plurality of branch paths facing the turning direction side (left side in the example of FIG. 5), the branch path L1 serving as the guide path can be correctly recognized.

  Further, since the connecting line h1 is set in the direction from the reference position P1 toward the end of the partition line of the branch path L1, the position of the branch path L1 can be more easily recognized.

[Description of Second Embodiment]
Next, a second embodiment of the present invention will be described. Since the vehicular display device according to the second embodiment has the same configuration as that shown in FIGS. 1 and 2, the description of the configuration is omitted. In the above-described first embodiment, the route guidance image Q1 is displayed along the connecting line (h1 in FIG. 8) from the intersection reference position P1 (see FIG. 7) to the end of the partition line of the branch road L1. On the other hand, the second embodiment is different in that a route guidance image is displayed along a connecting line (h2 in FIG. 8) from the intersection reference position P1 to the edge of the branch road L1.

  Hereinafter, the processing procedure of the vehicle display device according to the second embodiment will be described with reference to the flowchart shown in FIG. In FIG. 9, the same processes as those in the flowchart shown in FIG. 4 described above are denoted by the same step numbers, and different processes will be described by adding the suffix “a” to the step numbers.

  First, in step S11, the intersection position detection unit 22 detects the position of an intersection existing ahead of the host vehicle. In this process, based on the map data acquired from the navigation device 16 and the GPS data, an intersection position existing within a predetermined distance (for example, 100 m) from the host vehicle is detected. As a result, for example, as shown in FIG. 5A, an intersection that forms a five-way road is detected in front of the host vehicle. Note that the intersection position may be calculated based on an image captured by the camera 11.

  In step S12, the intersection position detection unit 22 determines whether or not there are a plurality of branch roads facing the turning direction of the own vehicle (the turning direction designated as the guide route) at or near the intersection in front of the own vehicle. Judging. For example, as shown in FIG. 5 (a), when the host vehicle V1 is traveling on a travel path L0, a branch road L2 exists at a front intersection other than the branch path L1 that is a guide path. Is determined to have a plurality of branch paths in the same direction, YES is determined in step S12, and the process proceeds to step S13a. If there is not more than one, the determination is NO and the process proceeds to step S21.

  Since the process of step S21-S23 is the same as that of 1st Embodiment mentioned above, description is abbreviate | omitted.

  In step S <b> 13 a, the intersection position detection unit 22 acquires branch path position data imaged by the camera 11. Furthermore, the edge part of the branch road made into the turning direction of the own vehicle is detected from the acquired position data of the branch road. For example, as illustrated in FIG. 6, when the branch path that is the turning direction is the branch path L1, the edge portion J1 of the edge of the branch path L1 is detected.

  In step S14, the 2D coordinate conversion unit 23 converts the three-dimensional position coordinate data of the intersection into two-dimensional position coordinate data.

  In step S15a, the 2D coordinate conversion unit 23 converts the position coordinate data of the edge portion J1 detected in the process of step S13 into two-dimensional position coordinate data.

  In step S <b> 16, the intersection position calculation unit 25 calculates the correction amount of the intersection position coordinates. In this process, based on the vehicle steering angle detected by the steering angle sensor 17 and the traveling speed of the host vehicle detected by the vehicle speed sensor 18, the correction amount of the intersection position acquired in the process of step S11 is calculated.

  In step S17a, the intersection position calculation unit 25 calculates the correction amount of the edge position of the edge. Also in this process, as in step S16, the white line position acquired in the process of step S13 based on the steering angle of the vehicle detected by the steering angle sensor 17 and the traveling speed of the host vehicle detected by the vehicle speed sensor 18. The amount of correction is calculated.

  In step S18, the intersection position calculation unit 25 calculates intersection reference position display coordinates. In this process, reference position coordinates of an intersection existing ahead of the host vehicle are calculated. As the reference position coordinate detection method, the reference position P1 shown in FIG. 7 is calculated by the method described above.

  In step S19a, the intersection position calculation unit 25 calculates the coordinates of the edge part of the edge based on the correction amount of the edge part position of the edge.

  In step S <b> 20, the route guidance image position calculation unit 26 calculates display coordinates when the route guidance image is displayed on the HUD image display unit 15. In this process, the display coordinates of the image heading forward with respect to the traveling path of the host vehicle are calculated. Furthermore, as shown in FIG. 8, route guidance is performed along a connection line (connection line h2 in FIG. 8) defined as a line from the reference position P1 of the intersection toward the end of the edge of the branch path to be turned. The display coordinates of the image are calculated.

  In step S24, the image display control unit 28 forms a route guidance image. In step S25, the image display control unit 28 displays the route guidance image formed in step S24 on the HUD image display unit 15. In this way, a route guidance image toward the branch road to be turned can be displayed on the HUD image display unit 15.

  Hereinafter, with reference to an explanatory diagram shown in FIG. 6, an image visually recognized by the passenger through the windshield and each image displayed on the HUD image display unit 15 will be described.

  FIG. 6 shows that an intersection exists within 100 m (predetermined distance) ahead of the host vehicle, two branch roads L1 and L2 exist on the left side with respect to the travel path L0 of the host vehicle, and the branch path L1. Is a guide route by the navigation device 16. In such a case, the reference position P1 of the intersection is set on the partition line of the traveling road L0, and along the connecting line (see h2 in FIG. 8) from the reference position P1 toward the edge of the branch road L1. The route guidance image Q3 is displayed. Specifically, route guidance images Q3 having three triangular shapes are displayed on the windshield of the host vehicle. Since the route guidance image Q3 displayed along the partition line h2 shown in FIG. 8 accurately shows the branch road L1 that is the turning target branch road, the driver of the host vehicle is route-guided. It is possible to reliably recognize that the existing branch path is the branch path L1. Therefore, it can be prevented from being mistaken for the branch path L2.

  In this manner, in the vehicle display device according to the second embodiment of the present invention, the reference position P1 is set at the intersection, and the connecting line h2 from the reference position P1 toward the branch path L1 is detected. Then, a route guidance image Q3 indicating the turning direction is displayed on the HUD image display unit 15 corresponding to the connecting line h2. Therefore, even when there are a plurality of branch paths facing the turning direction side (left side in the example of FIG. 6), the branch path L1 serving as the guide path can be correctly recognized. Further, since the connecting line h2 is set in the direction from the reference position P1 toward the edge of the branch path L1, the position of the branch path L1 can be more easily recognized.

[Description of Third Embodiment]
Next, a third embodiment of the present invention will be described. Since the vehicular display device according to the third embodiment has the same configuration as that shown in FIGS. 1 and 2, the description of the configuration is omitted. In 3rd Embodiment, as shown in FIG. 8, the connection line h3 is set toward the direction parallel to the partition line of the branch path L1 from the reference position P1 of an intersection. A route guidance image is displayed along the connecting line h3.

  The processing procedure of the vehicle display device according to the third embodiment is substantially the same as that in FIG. The difference is that in the process of step S20 in FIG. 4, the route guidance image is parallel to the partition line based on the reference white line coordinates (coordinates of the partition line of the branch path L1) calculated in the process of step S19. This is only the point for calculating the display coordinates.

  By doing so, as in the first embodiment described above, a route guidance image directed from the traveling road L0 of the host vehicle to the branch road L1 to be turned can be displayed at an accurate position on the windshield. Therefore, even when there are a plurality of branch roads on the turning direction side of the host vehicle, the driver can reliably recognize the branch road L1 to be turned. In addition, since the route guidance image is displayed in a direction parallel to the partition line of the branch path L1, the branch path L1 to be turned can be more easily recognized.

  In each of the above-described embodiments, for example, as illustrated in FIG. 5, a case where a plurality of branch paths exist at one intersection has been described as an example. However, the present invention is not limited to a plurality of intersections within a short range. The present invention can also be applied to the case where a plurality of branch roads exist in the same direction as the turning direction of the host vehicle at the plurality of intersections.

  The vehicle display device of the present invention has been described based on the illustrated embodiment, but the present invention is not limited to this, and the configuration of each part is replaced with an arbitrary configuration having the same function. be able to.

  For example, in the above-described embodiment, the windshield has been described as an example of the window glass. However, the present invention can be applied to a window glass other than the windshield.

DESCRIPTION OF SYMBOLS 10 Display apparatus for vehicles 11 Camera 14 Display controller 15 HUD image display part 16 Navigation apparatus 17 Steering angle sensor 18 Vehicle speed sensor 21 White line position detection part 22 Intersection position detection part 23 2D coordinate conversion part 24 White line position calculation part 25 Intersection position calculation part 26 Route Guidance Image Position Calculation Unit 27 Route Guidance Image Forming Unit 28 Image Display Control Unit 29 Connection Line Setting Unit 42, 43 Mirror 45 Windshield 46 Video

Claims (4)

An imaging unit for imaging the surroundings of the host vehicle;
An intersection detection unit that detects an intersection existing on the traveling path of the host vehicle and a branch road branched from the intersection;
A connection line setting unit for obtaining a reference position of an intersection from the image captured by the imaging unit and detecting a connection line from the reference position toward the branch path;
An image display unit that displays an image on an area on the window glass of the host vehicle that is visible to an occupant;
In the area of the image display unit corresponding to the visual recognition area that is an area on the window glass of the intersection when an occupant of the own vehicle visually recognizes the intersection existing in front of the own vehicle through the window glass, the intersection A display control unit that performs control to display a route guidance image indicating a turning direction at
The display control unit
Based on the route guidance information of the intersection, the intersection ahead of the host vehicle detected by the intersection detection unit is the intersection to be turned, and a plurality of branch roads facing the turning direction side are present at or near the intersection to be turned. If present, a route guidance image is displayed on an image display unit in a visual recognition area corresponding to a connecting line that faces the branch route that is route-guided from the reference position of the intersection. The connection line setting unit detects a partition line existing in the branch path from an image captured by the imaging unit, and sets a line connecting the reference position and an end of the partition line as the connection line. The vehicle display device according to claim 1. The connection line setting unit detects a partition line existing in the branch path from the image captured by the imaging unit, and sets a line parallel to the partition line from the reference position as the connection line. The vehicle display device according to claim 1, wherein The connection line setting unit detects an edge of the branch path from an image captured by the imaging unit, and sets a line connecting the reference position and an end of the edge as the connection line. The vehicle display device according to claim 1.

Images