Head-up display device, display control device and display system for vehicles

Abstract

[Task] The goal is to enable a driver to correctly and intuitively identify a course change point such as an intersection, etc. visually. [Solution] A head-up display device (HUD device 100) comprises both an image display unit 120, which displays a first virtual image (route image) showing a turning point near a course change point of a vehicle, consisting of a section of an arrow shaft extending to the turning point and superimposed on a road surface, and a second virtual image (AR image), the display position of which changes along the first virtual image and which is displayed stationary as the vehicle approaches the course change point near the turning point, as well as a control unit 110, which, when displaying the second virtual image, performs a control operation that projects a shadow image of the second virtual image onto the first virtual image for display.and when the second virtual image comes to a standstill near a turning point of the first virtual image, as the vehicle approaches the course change point, a control action is performed that stops the projection of the shadow image.

Description

[Technical field]

[0001] The present invention relates to a head-up display device or the like which is used in a moving body such as a vehicle or the like and which visually recognizes a display object (virtual image) superimposed on a front landscape of the moving body. [Technical background]

[0002] Conventionally, a head-up display device (hereinafter simply referred to as a HUD device) is known that enhances the expressiveness in the depth direction (the front and rear directions of a vehicle) by using a virtual display object (virtual image) (a visual observer can perceive depth through an oblique image plane (display area).) and enables intuitive information presentation for the visual observer. This HUD device forms an augmented reality (AR) in which the virtual images are arranged at predetermined positions in a space of a front landscape (the real landscape in the forward direction seen by the visual observer in the vehicle) in the depth direction or in the up-down and left-right directions, and the virtual images are added to the real landscape (front landscape) such as a road surface, etc., and displayed.

[0003] For example, Patent Document 1 discloses a navigation device that displays on the HUD device a movement route of a vehicle based on a travel destination guide image (guide line 20 in Fig. 2) displays a bird's-eye view overlooking a front of the vehicle, gradually enlarges and displays it as it approaches a destination, and stops enlarging the map as it approaches further and displays a destination direction image (27 in Fig. 2: AR display (arrow sign) that shows a route at the guidance point at the guidance line display location. The so-called "map display" is a display format that displays the vehicle's route guidance on the map by displaying the map. AR display is a display format that creates augmented reality, displaying navigation information against actual scenery, etc., and performing route guidance. [Prior art document][Patent document]

[0004] [Patent document 1] WO 2021 / 132553 A1 [Summary of the invention]

[0005] However, according to the technique disclosed in Patent Document 1 above, there is a problem that, when performing route guidance, it is difficult to accurately and intuitively understand a right-turn or left-turn point, etc., depending on the distance to a course change point such as an intersection. As a result, a driver, as a visual recognizer, may incorrectly recognize the route.

[0006] The present invention has been created to achieve this object, and its object is to provide a head-up display device, etc., which is configured to enable a driver as a visual recognizer to visually recognize a course change point such as an intersection, etc. correctly and intuitively.

[0007] Other objects of the present invention will become apparent to those skilled in the art upon consideration of the following exemplary embodiments and the best mode as well as the accompanying drawings. [Means of solving the problem]

[0008] In the following, embodiments according to the present invention are shown by way of example for a better understanding of the essence of the present invention.

[0009] A first embodiment provides a head-up display device that projects a virtual image superimposed on a front landscape for display onto a virtually configured display area in front of a vehicle as an image plane, and includes both an image display part that displays a first virtual image, which includes a turning point near a course change point of the vehicle, consisting of a portion of an arrow shaft extending to the turning point and is displayed superimposed on a road surface, and a second virtual image, the display position of which changes along the first virtual image and is displayed stationary as the vehicle approaches the course change point near the turning point, as well as a control part that, when displaying the second virtual image, carries out control that projects a shadow image of the second virtual image onto the first virtual image for display.and when the second virtual image is stationary near a turning point of the first virtual image, when the vehicle approaches the course change point, carries out a control which stops the projection of the shadow image.

[0010] The “first virtual image” is a route image Gu1, which, as in Fig. 4 (a) (b), has a turning point be near the course change point such as an intersection or the like, which the vehicle passes, consists of a portion of an arrow shaft (shaft s) extending to the turning point be and a portion of an arrowhead (arrowhead ah) showing the direction of travel of the vehicle, and is displayed superimposed on the road surface. The arrowhead portion is dispensable. In addition, the "second virtual image" is an AR image (Gu2, etc.), the display position of which, as shown in Fig. 4 (a) (b), Fig. 5 (a) (b), changes according to the movement of the vehicle along the first virtual image (route image Gu1), and is displayed stationary as the vehicle approaches the course change point such as an intersection, etc., near the turning point be of the first virtual image (route image). The AR image (Gu2) consists of one or more arrowhead components (arrowhead ah) that are visually recognized as floating above the road surface near the turning point be (course change point such as an intersection, etc.) of the route image Gu1. In addition, the "course change point" shows a right or left turn point such as an intersection, T-junction, curve, or the like that the vehicle traveling to the destination passes while traveling to the destination. The "vehicle approaching the course change point" shows the case where a distance to the course change point has reached a predetermined threshold. In this case, the control part executes, for example,a control for moving the second virtual image at a pre-configured speed (position change depending on time) and performs a video display on the image display part.

[0011] According to the first embodiment, the control part carries out the control which, when displaying the second virtual image (AR image Gu2, Gu3 (Gu3', Gu3'')) standing still near the turning point be of the first virtual image (route image Gu1), a shadow image (cf. e.g. Sh1 of Fig. 4 (a) (b)) of the second virtual image (AR image Gu2) is projected onto the first virtual image (route image Gu1), and when the second virtual image (AR image Gu2) stops, the projection of the shadow image Sh1 stops, thereby enabling the driver, as a visual recognizer, to correctly and intuitively perceive the distance to the turning point be (in other words, the course change point such as an intersection, etc.) of the first virtual image (route image Gu1). In other words, the driver, as a visual recognizer, can intuitively and correctly perceive the sense of distance between the course change point such as an intersection, etc. for turning right or left, and the vehicle based on whether or not the shadow image of the second virtual image (AR image Gu2) is projected onto the first virtual image (route image Gu1).Thus, the head-up display device can be provided which is configured to enable the driver as a visual recognizer to intuitively and correctly visually recognize the distance to the course change point such as intersection, etc., by adaptively controlling the display positions of the first virtual image and the second virtual image.

[0012] In a second embodiment, which is dependent on the first embodiment, the control part can carry out a control which, when the second virtual image moving along the first virtual image approaches the course change point, makes the second virtual image stand still after moving to a position offset in the direction opposite to a turning direction of the turning point and either displays arrowhead components forming the section of the arrowhead in the turning direction of the first virtual image in an increased number and side by side or displays the arrowhead components expanded.

[0013] According to the second embodiment, the control part can perform control that, when the second virtual image (AR image Gu2) moving along the first virtual image (route image Gu1) approaches the course change point, makes the second virtual image (AR image Gu2, Gu3) stop after moving to a position offset in the direction opposite to the turning direction of the turning point be of the first virtual image (route image Gu1), displays the arrowhead components in the turning direction of the first virtual image (route image Gu1) either in increased numbers and side by side or displays the arrowhead components expanded, thereby correctly and intuitively guiding the driver as a visual recognizer to steer in the turning direction of the turning point be of the first virtual image (route image Gu1) and increasing the guidance effect to the course change point such as an intersection, etc.

[0014] In a third aspect dependent on the first aspect, the control part may control a display attribute of the second virtual image or a shadow image of the second virtual image in a period from a movement of the second virtual image along the first virtual image to a stop near a turning point of the first virtual image, thus expressing a sense of distance between the vehicle and the course change point.

[0015] According to the third aspect, the control part controls the display attribute of the second virtual image (AR image Gu2) or the shadow image Sh1 of the second virtual image (AR image Gu2) in a period from the second virtual image (AR image Gu2) moving along the first virtual image (route image Gu1) until it stops near a turning point be of the first virtual image (route image Gu1). Consequently, the driver, as a visual discerner, can easily recognize that the vehicle is gradually approaching the turning point by, for example, the control part performing display attribute control in which the color of the second virtual image (AR image Gu2) gradually approaches the hue of the first virtual image (route image Gu1).In other words, by controlling the display attribute of the second virtual image (AR image Gu2) when the second virtual image (AR image Gu2) moves along the first virtual image (route image Gu1) and stands still near the turning point be of the first virtual image (route image Gu1), the sense of distance between the vehicle and the course change point such as intersection, etc. can be correctly expressed.

[0016] A fourth embodiment represents a display control device with a processing device that is connected to a head-up display device that projects a virtual image superimposed on the front landscape onto a virtually configured display area in front of a vehicle as an image plane for display, wherein the processing device displays both a first virtual image that has a turning point near a course change point of the vehicle, consists of a section of an arrow shaft extending to the turning point and is displayed superimposed on a road surface, and a second virtual image, the display position of which changes along the first virtual image and which is displayed stationary as the vehicle approaches the course change point near the turning point, on the head-up display device and performs a control when displaying the second virtual image,which projects a shadow image of the second virtual image onto the first virtual image for display, and when the second virtual image is stationary near a turning point of the first virtual image, when the vehicle approaches the course change point, carries out a control which stops the projection of the shadow image.

[0017] According to the fourth aspect, the processing device performs control such that, when the second virtual image, which is stationary near the turning point of the first virtual image, is displayed on the head-up display device, it projects a shadow image of the second virtual image onto the first virtual image, and stops projecting the shadow image when the second virtual image stops, thereby enabling the driver, as a visual discerner, to intuitively and correctly perceive the distance to the turning point of the first virtual image. In other words, the driver, as a visual discerner, can intuitively and correctly perceive the sense of distance between the course change point, such as an intersection, for turning right or left, and the vehicle based on whether or not the shadow image of the second virtual image is projected onto the first virtual image.Thus, the display control device can be provided which is configured to enable the driver as a visual recognizer to intuitively and correctly visually recognize the distance to the course change point such as intersection, etc., by adaptively controlling the display positions of the first virtual image and the second virtual image.

[0018] A fifth embodiment represents a display system for vehicles, comprising a head-up display device that projects a virtual image superimposed on the front landscape for display on a virtually configured display area in front of a vehicle as an image plane, a display control device that performs control for generating the virtual image and for displaying it on the head-up display device, and a navigation device for providing route guidance information to the display control device, wherein the display control device displays both a first virtual image that has a turning point near a course change point of the vehicle, consists of a portion of an arrow shaft extending to the turning point and is displayed superimposed on a road surface, and a second virtual image,whose display position changes along the first virtual image and which, when the vehicle approaches the course change point near the turning point, is displayed stationary on the head-up display device and, when the second virtual image is displayed, carries out a control that projects a shadow image of the second virtual image onto the first virtual image for display, and when the vehicle approaches the course change point and the second virtual image remains stationary near a turning point of the first virtual image, carries out a control that stops the projection of the shadow image.

[0019] According to the fifth aspect, the display control device performs control such that, when the second virtual image, which is stationary near the turning point of the first virtual image, is displayed on the head-up display device, it projects a shadow image of the second virtual image onto the first virtual image, and stops projecting the shadow image when the second virtual image stops, thereby enabling the driver, as a visual discerner, to intuitively and correctly perceive the distance to the turning point of the first virtual image. In other words, the driver, as a visual discerner, can intuitively and correctly perceive the sense of distance between the course change point, such as an intersection, for turning right or left, and the vehicle based on whether or not the shadow image of the second virtual image is projected onto the first virtual image.Thus, the display system for vehicles can be provided which is designed to enable the driver as a visual recognizer to intuitively and correctly visually recognize the distance to the course change point such as intersection, etc., by adaptively controlling the display positions of the first virtual image and the second virtual image.

[0020] Those skilled in the art can easily understand that the embodiments according to the present inventions which have been shown by way of example can be further modified without departing from the spirit of the present invention. [Brief description of the drawings] [ Fig. 1] is a view provided to show an application example of a head-up display device of the present embodiment to a vehicle and to explain a relationship between the position of eyes of a driver and an image plane (display area) virtually configured in front of the vehicle. [ Fig. 2] is a block diagram showing a structure of a display system for vehicles including the head-up display device of the embodiment. [ Fig. 3] is a flowchart showing an operation of the head-up display device of the present embodiment. [ Fig. 4] are views showing an example of a screen structure of the head-up display device of the present embodiment, wherein Fig. 4 (a) shows a case in which, when the AR image (second virtual image) moves along the route image (first virtual image) from the near side of the screen to the back of the screen, the shadow image of the AR image (second virtual image) is projected onto the route image (first virtual image) for display, and Fig. 4 (b) shows a case where the AR image (second virtual image) moving along the route image (first virtual image) was seen from a bird's eye view. [ Fig. 5] are views showing an example of a screen structure of the head-up display device of the present embodiment, wherein Fig. 5 (a) shows a case in which the AR image (second virtual image) approached the proximity of the turn point of the route image (first virtual image), and Fig. 5 (b) shows a case where the AR image (second virtual image) was stationary near the turning point of the route image (first virtual image). [ Fig. 6] are views showing an example of a screen structure of the head-up display device of the present embodiment, wherein Fig. 6 (a) shows a case in which, when the AR image (second virtual image) is stationary near the turning point of the route image (first virtual image), the sections of the arrowhead are increased in number and displayed side by side, Fig. 6 (b) shows a case where the AR image (second virtual image) is moved to a position offset in the direction opposite to the turning direction of the turning point of the route image (first virtual image), and Fig. 6 (c) shows a case where, in the still state of the AR image, the AR image (first virtual image) is displayed expanded. [Embodiments of the invention]

[0021] A best mode explained below is used to facilitate understanding of the present invention. Therefore, those skilled in the art should be careful not to unduly limit the present invention by the embodiments explained below (hereinafter referred to as the present embodiment).

[0022] Hereinafter, a display system 1000 for vehicles including a head-up display device (hereinafter referred to as HUD device 100 unless otherwise specified) of the present embodiment will be shown by way of example and explained with reference to the drawings. (Structure of the embodiment)

[0023] Fig. 1 is a view provided to show an application example of a HUD device 100 of the present embodiment to a vehicle 1 and to explain a relationship between the position of eyes of a driver and a display area virtually configured in front of the vehicle as an image plane.

[0024] In the following explanation, in a case where a driver 4 sitting in a driver's seat of the vehicle 1 faces forward as a visual recognizer of the HUD device 100, a left-right direction, an up-down direction, and a front-and-backward direction are X-axis (left direction is positive X-axis direction), a Y-axis (up direction is positive Y-axis direction), and a Z-axis (forward direction is positive Z-axis direction).

[0025] It will be Fig. 1. The HUD device 100 of the present embodiment is provided in an instrument panel 5 of the vehicle 1 and includes a control part 110 and an image display part 120 (in a dashed line outline). The HUD device 100 emits a display light L onto a front windshield 2 (an example of a component for projecting) and visually displays the image in a display area VA as an image plane, which is virtually configured on the more forward side (positive Z-axis direction) than the front windshield 2. Thus, the driver 4 as a visual recognizer can visually recognize the image (virtual image) superimposed on a front landscape FV as a real space visually recognized via the front windshield 2.

[0026] The display area VA is a plane, a curved surface, or a portion of a partially curved surface on which an image generated within the HUD device 100 is projected as a virtual image, and is also referred to as an image plane. The visual recognizability of the display area VA itself is low, to the extent that it is actually visually unrecognizable or difficult to recognize by the driver 4.At the display area VA, both an angle (tilt angle θt) formed with the horizontal direction (XZ plane) around the left-right direction (X-axis direction) of the vehicle 1 as an axis and an angle (longitudinal arrangement θv) formed on the assumption that an angle formed by a line connecting the eyebox center (eye position of the driver 4) to an upper end of the display area VA and a line connecting the eyebox center (eye position of the driver 4) to a lower end of the display area VA is a longitudinal image angle, a bisector of this longitudinal image angle and the horizontal direction (XZ plane) are configured.

[0027] The eyebox is either an area that is equal to an area (also called an eye ellipse) where the eye position (center of the eyebox) of the driver 4 is assumed to be located in the passenger compartment, or an area that is configured to encompass a large part of it (e.g., 80% or more). The eyebox is therefore (1) an area in which all virtual images are visually recognizable and outside of which a part is not visually recognized, (2) an area in which at least a part of the virtual image is visually recognizable and outside of which no part is visually recognized, (3) an area in which at least a part of the virtual image is illuminated with a predetermined luminance (e.g.,(4) a region within which, if the stereoscopically visible virtual image can be displayed, at least a portion of the virtual image can be stereoscopically viewed and outside of which no portion of the virtual image is stereoscopically viewed. That is, if both eyes of the driver 4 are positioned outside the eyebox, the driver 4 cannot visually view the entire virtual image, cannot view it with difficulty due to the extremely low visual visibility of the virtual image, or cannot view the virtual image stereoscopically.

[0028] The image display part 120 includes, for example, a liquid crystal display device 121 having a display surface for displaying the image, and an optical relay system 122. The liquid crystal display device 121 may be a transmission display that transmits light from a backlight (not shown in the figure), or it may be a projection display that projects an image (virtual image) onto a screen. In these cases, the display surface is a display surface in the transmission display and a screen in the projection display. An actuator (not shown) such as an electric motor or the like, controlled by the control part 110, may be mounted on the liquid crystal display device 121 so that it can be rotated.

[0029] The relay optical system 122 is arranged on a light path of the light (display light L) of the image (virtual image) from the liquid crystal display device 121 between the liquid crystal display device 121 and the front windshield 2, and consists of one or more optical components that project the light L of the image (virtual image) from the liquid crystal display device 121 onto the front windshield 2 outside the image display part 120. The relay optical system 122 includes at least one concave mirror and may additionally include, for example, one or more refractive optical components such as a lens or the like, diffractive optical components such as a hologram or the like, reflective optical components, or a combination of these.

[0030] An actuator (not shown) such as an electric motor or the like is mounted on the optical relay system 122 and controlled by the control part 110 so that it can rotate. Specifically, when the vehicle display system 1000 is at a standstill, the actuator can change the position and angle of the optical relay system 122 so that the sunlight from the outside is not directed onto the liquid crystal display device 121 via the optical relay system 122. During the activation of the vehicle display system 1000, the actuator can change the position and angle of the optical relay system 122 so that the display light of the image from the liquid crystal display device 121 is projected onto a predetermined position of the front windshield 2.

[0031] The image display part 120 can change the angle (tilt angle θt) formed by the display area VA and a driving lane of the vehicle 1 by driving the actuator described above.

[0032] The tilt angle θt is configured to an angle at which, along the horizontal plane (e.g., the road surface of the lane traveled by vehicle 1), an upper part (part of the positive Y-axis direction) of the display area VA seen by the driver 4 is located at a position farther from the driver 4 than the lower part (part of the negative Y-axis direction). The tilt angle θt does not need to be 0 [degrees] (the display area VA and the road surface are parallel to each other), and it is desirable to be configured to less than 20 [degrees], setting it to a pre-configured angle (or setting it to be within a pre-configured angle range). However, the configuration value of the tilt angle θt can also be arbitrarily changed by the driver 4.

[0033] In addition, a longitudinal arrangement angle θv is configured to an angle such that all or most of the display area VA is positioned below the horizontal direction. The longitudinal arrangement angle θv is typically configured below the horizontal direction to less than 5 [degrees] and set to a pre-configured angle (or set to be within a pre-configured angle range). However, the configuration value of the longitudinal arrangement angle θv can also be arbitrarily changed by the driver 4.

[0034] The control part 110 includes table data in which the longitudinal arrangement angle θv of the display area VA maps to the actuator drive size, and table data in which the tilt angle θt of the display area VA maps to the actuator drive size. Based on this table data, each actuator can be driven to achieve the configured tilt angles θt and longitudinal arrangement angle θv.

[0035] Fig. 2 is a block diagram showing a structure of the display system 1000 for vehicles including the HUD device 100. As shown in Fig. As shown in Figure 2, the vehicle display system 1000 includes a display controller 300 and a navigation device 400, which are interconnected to be interactively communicable via an I / O interface 500. A behavior sensor 401, a camera 402, a LiADR (Light Detection And Ranging) 403, an eye position sensor 404, etc., are further connected to the I / O interface 500.

[0036] The display control device 300 comprises a processing device (hereinafter referred to as processor 200) and a HUD device 100. In addition to managing the navigation device 400 connected to the I / O interface 500 or the interfaces for various types of sensors 401 - 404, the processor 200 can display a first virtual image superimposed on the road surface (cf. Gu1 of the following Fig. 4 (a) (b)) and a second virtual image (cf. Gu2 of the subsequently explained Fig. 4 (a) (b)), whose display position changes along the first virtual image Gu1 and stops when the vehicle 1 approaches the course change point such as an intersection, etc., near the turning point of the first virtual image Gu1, on the HUD device 100 and carry out a control which, when displaying this second virtual image Gu2, displays a shadow image (cf. Sh1 of the following Fig. 4 (a) (b)) of the second virtual image Gu2 onto the first virtual image Gu1 for display, and perform control to stop the projection of the shadow image Sh1 when the vehicle 1 approaches the course change point and the second virtual image Gu2 stops near the turning point of the first virtual image Gu1. This will be explained in detail later.

[0037] The “first virtual image” shows, for example, Fig. 4 (a) (b), a route image Gu1 having a turning point be near the course change point such as an intersection or the like is displayed superimposed on the road surface, consisting of a portion of an arrow shaft (shaft s) extending to the turning point be and a portion of an arrowhead (arrowhead ah) showing the traveling direction of the vehicle 1. In addition, the "second virtual image" such as in Fig. 4 (a) (b) shows an AR image Gu2, etc., whose display position changes along the first virtual image (route image Gu1), and which remains stationary as the vehicle 1 approaches the course change point such as an intersection, etc., near the turning point be of the first virtual image (route image). The AR image Gu2 consists of one or more arrowhead components (arrowhead ah) that are visually recognized near the turning point be of the route image Gu1 so as to float above the road surface. In addition, the "course change point" shows a right- or left-turn point such as an intersection, T-junction, curve, or the like that the vehicle 1 traveling to the destination passes while traveling to the destination.

[0038] The HUD device 100 comprises, as shown in the Fig. 1, the control part 110 and the image display part 120, which includes the liquid crystal display device 121 and the optical relay system 122.

[0039] The control part 110 carries out the control which, when displaying the second virtual image (AR image Gu2), generates the shadow image Sh1 (cf. Fig. 4 (a) (b)) projects the second virtual image (AR image Gu2) onto the first virtual image (route image Gu1) for display, and performs control to stop the projection of the shadow image Sh1 when the vehicle 1 approaches the course change point such as an intersection, etc., and the second virtual image (AR image Gu2) stops near the turning point be of the first virtual image (route image Gu1). "The approach of the vehicle 1 to the course change point of the intersection, etc." shows a case where a distance to the course change point has reached a predetermined threshold. In this case, video display is performed in which the second virtual image (AR image Gu2) is moved at a preconfigured speed (position change over time) under the control of the control part 110.

[0040] In addition, the control part 110 can also carry out a control that, when the second virtual image (AR image Gu2) moving along the first virtual image (route image Gu1) approaches the course change point such as an intersection, etc., makes the second virtual image (AR image Gu2) stop after moving to a position offset in the direction opposite to the turning direction of the turning point be of the first virtual image (route image Gu1) (cf. AR image Gu3 of the Fig. 5 (a) (b)) and in the turning direction (left-right direction of the image angle) of the first virtual image (route image Gu1) the arrowhead components forming the section of the arrowhead ah are either increased in number and displayed side by side as AR image Gu3' (Gu3 of the subsequently explained Fig. 6 (b); consisting of the arrowhead components Gu31, Gu32, Gu33 forming the section of the arrowhead ah and these are shown next to each other) or displays the arrowhead components in an expanded form (cf. Gu3'' of the subsequently explained Fig. 6 (c)).

[0041] Furthermore, when the second virtual image (AR image Gu2) moves along the first virtual image (route image Gu1) and stops near the turning point be of the first virtual image (route image Gu1), the control part 110 can control the display attribute of the second virtual image (AR image Gu2) or the shadow image Sh1 of the second virtual image and express the sense of distance between the vehicle 1 and the course change point such as an intersection, etc. The control part 110 enables the driver as a visual recognizer to easily recognize the gradual approach of the vehicle 1 to the course change point such as an intersection, etc., by, for example, when the second virtual image (AR image Gu2) moves along the first virtual image (route image Gu1) and stops near the turning point be of the first virtual image (route image Gu1).to gradually approximate a color of the second virtual image (AR image Gu2) to the color tone of the first virtual image (route image Gu1).

[0042] To perform the above-described control, the control part 110 includes, for example, a processor with an internal or external memory (ROM / RAM) and a graphics controller that draws the first virtual image (route image Gu1) and the second virtual image (AR image Gu2, etc.) generated by the processor 200 on a VRAM (Video RAM) allocated to a predetermined area of ​​the RAM, and displays them on the image display part 120 according to a display timing, and performs each of the above-described functions by executing the programs stored in the ROM. Furthermore, it is also possible to implement at least some of the above-described functions not by the processor but by hardware such as an FPGA (Field Programmable Gate Array), a logic circuit, etc.

[0043] The image display part 120 is controlled by the control part 110 described above, wherein the image display part 120, such as in Fig. 4 (a) (b), the first virtual image (route image Gu1) having the turning point be near the course change point such as intersection, etc., through which the vehicle 1 passes, is composed of the portion of the arrow shaft (shaft s) extending to the turning point be and the portion of the arrowhead (arrowhead ah) showing the advancing direction of the vehicle 1, and is displayed superimposed on the road surface, and the second virtual image (AR image Gu2, Gu3 (Gu3', Gu3'')) whose display position changes along the first virtual image (route image Gu1) and which remains still as the vehicle 1 approaches the course change point near the turning point be of the first virtual image (route image Gu1) are displayed.

[0044] Hereinafter, an additional explanation is given of the AR image Gu2, Gu3 (Gu3', Gu3'') displayed as a second virtual image. The AR image Gu2, Gu3 used in the present embodiment is a character displayed in a field of view FV (see FIG. Fig. 1) of the HUD device 100 of the present embodiment, the route image Gu1 is displayed, accompanying the route image Gu1, and indicates the traveling direction of the vehicle 1. This sign consists of only a portion of one or more arrowheads (arrowhead ah) displayed at the course change point such as an intersection, positioned parallel or perpendicular to the road surface (the former: AR image Gu2; the latter: AR image Gu3). It indicates the traveling direction of the vehicle 1, and is displayed relatively small when the vehicle 1 is located at a location far from the course change point, and relatively large when the vehicle 1 approaches the course change point. It does not require a portion of the arrow shaft (shaft s) compared with the AR image expressed as a normal arrow image, so its display area in the viewing angle of the HUD device 100 is reduced, and thus visual visibility can be increased without obstructing the front field of vision.Also, information other than the traveling direction of the vehicle 1 can be expressed by changing the portion of the arrowhead (arrowhead ah) as described later. Fig. 6 (a) (b), for example, two or more arrowhead components (Gu31, Gu32, Gu33) are formed.

[0045] We return to the explanation of the Fig. 2. The navigation device 400 uses a behavior sensor 401 described later, a global navigation satellite system (GNSS) such as internal GPS (Global Positioning System), etc., or a gyro sensor, and performs information processing such as guidance of surrounding facilities, route guidance, etc. of the vehicle 1 according to the internal map data or after obtaining the map data through radio communication with the outside of the vehicle. If it is detected based on the result of the information processing that, for example, an intersection at which the vehicle 1 is to turn is approaching, it transmits a signal for promoting display output based on the result of this information processing at the appropriate time to the display control device 300 (HUD device 100) via the I / O interface 500.

[0046] The navigation device 400 includes map data as described above. Regarding the map data, it can obtain and store up-to-date map information, for example, through communication, etc., with an external center (not shown) via a V2X (Vehicle to X) communication system (not shown). The map data is mapping data digitized to represent the traveling environment of the vehicle 1. Specifically, it is desirable that the mapping data be digital data of a high-accuracy dynamic map. The dynamic map is a digital map in which vast dynamic information, such as traffic regulations, construction work information, accidents, congestion, pedestrians, traffic light information, etc., that changes hourly are combined with static information such as high-accuracy three-dimensional position information (road surface information, lane information, three-dimensional construction), etc.

[0047] The behavior sensor 401 includes an IMU (Inertial Measurement Unit) that detects the behavior of the vehicle 1, a vehicle speed sensor, a steering angle sensor that detects the steering wheel angle of a steering wheel, etc. The IMU can measure driving conditions and attitude of the vehicle using a three-axis acceleration sensor and a three-axis angular velocity sensor (gyro sensor) (translational movement in three axis directions from the acceleration [m / s 2 ] and rotational movement from the angular velocity [deg / s]. Information detected or acquired by the behavior sensor 401 is transmitted to the navigation device 400 and the display control device 300 (HUD device 100) via the I / O interface 500.

[0048] The vehicle display system 1000 includes, in addition to the above-described behavior sensor 401, the camera 402 that detects the driving environment including the front of the vehicle 1, the LiDAR 403, and the eye position sensor 404. The camera 402 captures at least a front view (real landscape) of the vehicle 1, and the LiDAR 403 irradiates, for example, an obstacle or the like captured by the camera 402 and present in front of the vehicle 1 with light using near-infrared light, visible light, or ultraviolet light, detects its reflected light with a light sensor, and determines a distance to the obstacle based on a respective time difference.

[0049] The eye position sensor 404 is composed of an infrared camera, etc., that detects the eye position of the driver 4. The display control device 300 (processing device 200) receives an image captured by the infrared camera (example of the information with which the eye position can be presumed) and can determine the eye position of the driver 4 by analyzing this captured image. The processing device 200 may be one that receives the information of the eye position of the driver 4 determined based on the captured image of the infrared camera from the I / O interface 500. The method for obtaining the information of the eye position of the driver 4 of the vehicle 1 or the information with which the eye position of the driver 4 can be presumed is not limited to this, and it can be obtained using the known eye position detection (presumption) technique.

[0050] The I / O interface 500 performs communication (it may also be referred to as CAN communication) with other components (reference numerals 400 - 404), for example, according to the CAN (Controller Area Network) standard other than the display control device 300, via an ECU (not shown) provided in the vehicle 1. The telecommunications standard selected by the I / O interface 500 is not limited to CAN, and includes a cable communication interface such as CANFD (CAN with Flexible Data Rate), LIN (Local Interconnect Network), Ethernet (registered trademark), MOST (Media Oriented Systems Transport: MOST is a registered trademark), UART (Universal Asynchronous Receiver Transmitter), USB (Universal Serial Bus), etc., or an in-vehicle communication interface (internal communication) as a short-range radio communication interface within a range of several tens of meters, such asPersonal Area Network (PAN) such as Bluetooth (registered trademark) network, etc., Local Area Network (LAN), etc. such as 802.11 x Wi-Fi (registered trademark) network, etc.

[0051] In addition, the I / O interface 500 may include an interface of off-vehicle communication (external communication) such as wide area network (e.g., Internet communication network), etc., due to the standards for cellular communication such as wireless wide area network (WWAN0, IEEE802.16 - 2004 (WiMAX: Worldwide Interoperability for Microwave Access)), IEEE802.16e-Base (Mobile WiMAX), 4G, 4G-LTE, LTE Advanced, 5G, etc. (Operation of the embodiment)

[0052] Fig. 3 is a flowchart showing the operation of the HUD device 100 of the present embodiment. Fig. 4 are views showing an example of a screen structure of the HUD device 100 of the present embodiment, wherein Fig. 4 (a) shows a case in which, when the AR image moves along the route image from the near side of the image surface to the rear side of the image surface, the shadow image of the AR image is projected onto the route image for display, and Fig. 4 (b) shows a case where the AR image moving along the route image is seen from a bird's eye view. Fig. 5 are views showing an example of a screen structure of the HUD device 100 of the present embodiment, wherein Fig. 5 (a) shows a case in which the AR image approached the proximity of the turn point of the route image, and Fig. 5 (b) shows a case where the AR image was stationary near the turn point of the route image. Fig. 6 are views showing an example of a screen structure of the HUD device 100 of the present embodiment, wherein Fig. 6 (a) shows a case in which, when the AR image is stationary near the turning point of the route image, the sections of the arrowhead are increased in number and displayed side by side, Fig. 6 (b) shows a case where the AR image is moved to a position offset in the direction opposite to the turning direction of the turning point of the route image, and Fig. 6 (c) shows a case where, in the still state of the AR image, the AR image is displayed expanded.

[0053] The following describes the operation of the vehicle display system 1000 according to Fig. 2, mainly the operation of the HUD device 100 based on the Fig. 3 to 6 explained.

[0054] The navigation device 400 first displays the map including the current position of the vehicle 1 on the image display part 120 (liquid crystal display 121) of the HUD device 100 via the display control device 300. Furthermore, a guide route to the configured destination is displayed on the map, an image showing the course change direction before the course change point based on the guide route is displayed, and an enlarged map is displayed near the intersection, so that route guidance can be performed on the screen.

[0055] The HUD device 100 (control part 110) monitors whether the guided route search is performed by the navigation device 400 (step ST01) and, if the guided route search is performed (step ST01 "YES"), displays the map at a predetermined reduced scale (preconfigured scale) in a bird's-eye view form on the image display part 120 (step ST02). The vehicle 1 then moves according to the guided route determined by the navigation device 400. When approaching a course change point such as an intersection, the control part 110 compares the remaining distance to the intersection with a display change threshold (step ST03). The "display change threshold" indicates the remaining distance when switching from the map display at the predetermined reduced scale, for example, as shown in Fig. 4 (a), into the image area that displays the enlarged route image Gu2 near the course change point, and represents, for example, a point 300 m ahead of the previously configured course change point.

[0056] When the remaining distance to the course change point such as an intersection, etc., according to the movement of the vehicle 1 reaches the display change threshold (step ST03 "YES"), the control part 110 enlarges the reduced scale of the map displayed on the image display part 120 and displays the course change point such as an intersection, etc., together with the surrounding map on the image display part 120. At the same time, it performs control to superimpose the route image Gu1 on the road surface and further display the AR image Gu2 along the road surface (step ST04). Examples of the route image Gu1 and the AR image Gu2 displayed at this time are shown in Fig. 4 (a) (b) shown.

[0057] The route image Gu1 shows, as shown in Fig. 4 (a) (b), the turning point be is located near the heading change point of the vehicle 1 and consists of the portion of the arrow shaft (shaft s) extending to the turning point be and the portion of the arrowhead (arrowhead ah) showing the direction of travel of the vehicle 1, and is displayed superimposed on the road surface. If the display position of the AR image Gu2 changes, as shown in Fig. 4 (a) (b), along the route image Gu1 and when the vehicle 1 approaches the course change point such as intersection, etc., its display configuration, such as in Fig. 5 (b), modified and displayed as AR image Gu3 near the turning point be of the route image Gu1.

[0058] When displaying the AR image Gu2 on the image display part 120, the control part 110, as shown in Fig. 4 (a) (b), Fig. 5 (a), a control is performed which, after the vehicle 1 approaches the course change point such as an intersection, etc., and just before coming to a stop near the turning point be of the route image Gu1, generates the shadow image Sh1 of the AR image Gu2 and projects the shadow image Sh1 of this AR image Gu2 onto the route image Gu1 for display (step ST05). Fig. 4 (b) is a view in which the AR image Gu2 moving along the route image Gu1 is shown from a bird's eye view, and is provided to deepen the understanding of the fact that the shadow image Sh1 of the AR image Gu2 is projected onto the route image Gu1 for display.

[0059] If in step ST03 the remaining distance to the course change point such as intersection, etc., does not reach the display change threshold (step ST03 "NO"), the control part 110 repeats the processing of step ST02 until the display change threshold is reached.

[0060] As the AR image Gu2 moves along the route image Gu1 and stops near the turn point be of the route image Gu1, the control part 110 controls the display attribute of the AR image Gu2 or the shadow image Sh1 of the AR image Gu2, thereby expressing the sense of distance between the vehicle 1 and the turn point (step ST06). The control part 110 gradually approximates the color of the AR image Gu2 to the hue of the route image Gu1 according to the movement of the vehicle 1, allowing the driver 4, as a visual discerner, to easily understand that the vehicle 1 is gradually approaching the turn point.In other words, by controlling the display attribute of the AR image Gu2 (second virtual image) when the AR image Gu2 (second virtual image) moves along the route image Gu1 (first virtual image) and stops near the turning point be of the route image Gu1 (first virtual image), it enables the driver 4 as a visual recognizer to intuitively and correctly recognize the sense of distance between the vehicle 1 and the course change point such as intersection, etc.

[0061] Also, by controlling the size, depth, etc. of the shadow image Sh1, as mentioned below, it is possible to recognize the sense of distance between the vehicle 1 and the course change point such as intersection, etc. more intuitively and correctly.

[0062] If the vehicle 1 then approaches the course change point such as intersection, etc., to be described concretely, to the vicinity of the turning point of the route image Gu1 (step ST07 “YES”), the control part 110 changes the display form so that the AR image Gu2 is visually recognized floating above the road surface near the turning point be of the route image Gu1 (cf. Gu3 in Fig. 5 (a) (b), Gu3' in Fig. 6 (a), Gu3'' in Fig. 6 (b)), the control part 110 also performs control to make the vehicle 1 stop after moving to a position offset in the direction opposite to the turning direction of the turning point be of the route image Gu1 (step ST08). The "approach of the vehicle 1 to the vicinity of the turning point of the route image Gu1" shows the case where the distance to the course change point such as an intersection, etc., has reached the predetermined threshold. In this case, the control part 110, for example, performs control to make the vehicle 1 stop after controlling the movement of the AR image GU2 (second virtual image) at a preconfigured speed (position change according to time) (video display), and displays it on the image display part 120. The "proximity of the turning point be of the route image Gu1" is determined depending on the viewing angle of the HUD device 100, so it cannot be uniquely defined. However, it means, for example, B.a distance from the current position of the vehicle 1 to 30m before the turning point.

[0063] This means concretely: In step ST08, the control part 110 carries out a control for changing the display configuration by, for example, an example of the screen layout in Fig. 6 (a) (b), with regard to the AR image Gu3', the arrowhead components of the section of the arrowhead ah in the direction of the turning direction (to the left in the left-right direction of the image angle) of the route image Gu1 are either increased in number and displayed next to each other (arrowhead components Gu31, Gu32, Gu33), or the arrowhead components are displayed expanded, as in the example of the image area structure in Fig. 6 (c). Control is also performed to make the AR image Gu3' stand still after moving to a position offset in the opposite direction to the turning direction of the turning point be of the route image Gu1 (to the right in the horizontal direction of the viewing angle).

[0064] This is a measure for the purpose that the control part 110 correctly informs the driver 4 as a visual recognizer of the sense of distance to the course change point such as an intersection, etc., by aligning a central axis a (center position of the angle of view) of the arrow shaft (shaft s) portion of the route image Gu1 with a sharp front end part b (offset position) of the last arrowhead component Gu33 on the arrowhead portion (arrowhead ah) of the AR image 3', when, with respect to the AR image Gu3, the arrowhead components at the arrowhead portion ah toward the turning direction (left in the left-right direction of the angle of view) of the route image Gu1 are either multiplied in number and displayed side by side (AR image GU3' including the arrowhead components Gu31, Gu32, Gu33) or the arrowhead components are displayed expandedly (AR image Gu3'').

[0065] In addition, the control part 110 also performs control that, when the vehicle is stationary and the AR image Gu3 (Gu3', Gu3") whose display form has been changed is displayed near the turning point be of the route image Gu1, stops the projection of the shadow image Sh1 of the AR image Gu2 before the stationary state (step ST09). The control that projects the shadow image Sh1 of the AR image Gu2 onto the route image Gu1 until the vehicle 1 approaches the course change point such as an intersection, etc., and stops the projection of the shadow image Sh1 upon the vehicle 1 approaching the course change point such as an intersection, etc., is performed as described above, and the AR image Gu3 (Gu3', Gu3") that is stationary near the turning point be of the route image Gu1 is displayed, thereby enabling the driver 4 as a visual recognizer to know the distance to the turning point be of the route image Gu1 (in other words: distance to to the course change point such as intersection, etc.) intuitively and correctly.

[0066] The control part 110 displays, in addition to the route image Gu1, the AR image Gu2 and the shadow image Sh1 of the AR image Gu2 on the image display part 120. According to the movement of the vehicle 1, the AR image Gu2 is displayed in a small size so that it can make them appear distant (large-small perspective). It superimposes the AR image Gu2 and its shadow image Sh1 on the route image Gu1 so that it can make the rear object appear farther away (occlusive perspective). Furthermore, the shadow image Sh1 is drawn with blurring as the shadow image Sh1 of the AR image Gu2 moves according to the movement of the vehicle 1 (either dimmed in brightness or made closer to the route image Gu1 in size), so that it can make it appear farther away (vanishing point perspective). Thus, by these three graphic methods, the sense of distance (perspective) to the course change point such as an intersection, etc., can be emphasized and presented to the driver 4 as a visual recognizer.

[0067] The shadow image Sh1 of the AR image Gu2 is projected onto the route image Gu1 until the course change point such as an intersection, etc., is approached, and the projection of the shadow image Sh1 is stopped when the vehicle stops. Furthermore, the display attribute of the shadow image Sh1 is controlled, so that the distance to the course change point (distance from the route image Gu1 to the turn point be) becomes more understandable and can be intuitively grasped. In other words, the driver 4, as a visual recognizer, can intuitively and correctly recognize the sense of distance between the course change point such as an intersection, etc., for turning right or left, and the vehicle based on whether or not the projection of the shadow image Sh1 of the AR image Gu2 onto the route image Gu1 or the attribute control of the shadow image Sh1 is performed. (Modified example)

[0068] According to the above-described display system 1000 for vehicles, the HUD device 100 has been explained as one that performs the control that, when displaying the second virtual image (AR image Gu2) that is still near the turning point be of the first virtual image (route image Gu1), projects the shadow image (Sh1) of the second virtual image (AR image Gu2) onto the first virtual image (route image Gu1), and stops projecting the shadow image (Sh1) when the second virtual image (AR image Gu2) is still.

[0069] In contrast, it is possible to regard the HUD device 100 simply as a display device, and when the display control device 300 (processing device 200) displays the second virtual image (AR image Gu2) that is stationary near the turning point be of the first virtual image (route image Gu1) to the HUD device 100, it projects the shadow image (Sh1) of the second virtual image (AR image Gu2) onto the first virtual image (route image Gu1), and when the second virtual image (AR image Gu2) becomes stationary, stops projecting the shadow image (Sh1). That is, the processing device 200 of the display control device 300 can individually perform a series of the controls described above. In this case, the processing load of the HUD device 100 (control part 110) can be reduced. (Advantages of the present embodiment)

[0070] The head-up display device of the present embodiment is, as explained above, a head-up display device 100, which is made, for example, according to Fig. 1, the virtual image (route image Gu1, AR image Gu2, Gu3 (cf. Fig. 4 (a), Fig. 5 (a)) is projected onto the display area VA as a virtually configured image plane in front of the vehicle 1, superimposed on the front landscape for display. This HUD device 100 comprises, for example, Fig. 4 (a), Fig. 4 (b), both the image display part 120 (cf. Fig. 2), which displays the first virtual image (route image Gu1) having the turning point be in the vicinity of the course change point of the vehicle 1, consisting of the portion of the arrow shaft (shaft s) extending to the turning point be and displayed superimposed on a road surface, and the second virtual image (AR image Gu2) whose display position changes along the first virtual image (route image Gu1) and which remains stationary as the vehicle 1 approaches the course change point in the vicinity of the turning point be of the first virtual image (route image Gu1), as well as the control part 110 (cf. Fig. 2) which carries out the control which, when the second virtual image (AR image Gu2) is displayed, projects the shadow image (Sh1) of the second virtual image (AR image Gu2) onto the first virtual image (route image Gu1) for display, and carries out the control which, when the second virtual image (AR image Gu2) comes to a standstill in the vicinity of the turning point be of the first virtual image (route image Gu1) as the vehicle 1 approaches the course change point, stops the projection of the shadow image (Sh1) of the second virtual image (AR image Gu2).

[0071] According to the HUD device 100 of the present embodiment, the control part 110 performs the control that, when displaying the second virtual image (AR image Gu2) stationary near the turning point be of the first virtual image (route image Gu1), projects the shadow image (Sh1) of the second virtual image (AR image Gu2) onto the first virtual image (route image Gu1), and stops the projection of the shadow image (Sh1) when the second virtual image (AR image Gu2) is stationary, thereby enabling the driver 4 as a visual recognizer to intuitively and correctly perceive the distance to the turning point be of the first virtual image (route image Gu1). In other words, the driver 4 as a visual recognizer can sense the distance between the course change point such as intersection, etc., based on the execution or non-execution of the projection of the shadow image (Sh1) of the second virtual image (AR image Gu2) to the first virtual image (route image Gu1).for turning right or left and the vehicle can be intuitively and correctly recognized. Thus, the head-up display device can be provided which is configured such that, by adaptively controlling the display positions of the first virtual image (route image Gu1) and the second virtual image (AR image Gu2), it enables the driver 4, as the visual recognizer, to intuitively and correctly visually recognize the distance to the course change point such as an intersection, etc.

[0072] In the HUD device 100 of the present embodiment, the second virtual image (AR image Gu2) may be composed of a portion of one or more arrowheads (Ah) visually recognized as floating above the road surface near the turning point be of the first virtual image (route image Gu1), and the control part 110 may perform control such that, upon the approach of the second virtual image (AR image Gu2) moving along the first virtual image (route image Gu1) according to the movement of the vehicle 1, the second virtual image (AR image Gu2) stops at the course change point after moving to a position offset in the direction opposite to the turning direction of the turning point be of the first virtual image (route image Gu1).the arrowhead components at the section of the arrowhead (ah) are either increased in number and displayed next to each other in the turning direction (to the left of the left-right direction of the image angle) of the first virtual image (route image Gu1) (cf. e.g. , Fig. 6 (a), Fig. 6 (b)) or displays the arrowhead components in expanded form (cf. e.g. Gu3" of the Fig. 6 (c)).

[0073] According to the HUD device 100 of the present embodiment, the control part 110 performs the control that, when the second virtual image (AR image Gu2) moving along the first virtual image (route image Gu1) approaches the course change point, makes the second virtual image (AR image Gu2) stop after moving to a position offset in the direction opposite to the turning direction of the turning point be of the first virtual image (route image Gu1), either multiplying the arrowhead components at the portion (ah) of the arrowhead and displaying them side by side in the turning direction (to the left of the left-right direction of the viewing angle) of the first virtual image (route image), or expanding the arrowhead components.Thus, it can intuitively and correctly guide the driver 4, as a visual observer, to steer in the direction of the turning point of the first virtual image and increase the guidance effect to the target component. This movement to a position offset in the opposite direction to the turning direction of the turning point be of the first virtual image (route image Gu1) is, for example, Fig. 6 (a), Fig. 6 (b), a movement from the central line a of the arrow shaft portion of the first virtual image (route image Gu1) to the sharp front end part b of the arrowhead component Gu33 of the arrowhead portion of the second virtual image (AR image 3').

[0074] The second virtual image (AR image Gu2, Gu3, Gu3', Gu3") is displayed in such a way that it hovers above the road surface near the turning point be of the first virtual image (route image Gu1), so that the approach to the guidance point can be presented to the driver 4 as a visual recognizer in the three-dimensional and understandable display design. In other words: It is made easier for the driver 4 as a visual recognizer to recognize the guidance point safely and intuitively. This means specifically: The AR image Gu2 is, as in Fig. 4 (a), Fig. 4 (b), near the turning point bc of the route image Gu1 is visually recognized so that it floats parallel to the road surface above, and the AR image Gu3', GU3" is, for example, as shown in Fig. 6 (a), Fig. 6 (b), Fig. 6 (c), near the turning point bc of the route image Gu1 is visually recognized as floating vertically along the road surface, so that the approach to the guidance point can be intuitively presented.

[0075] Moreover, in the HUD device 100 of the present embodiment, in the period from the movement of the second virtual image (AR image Gu2) along the first virtual image (route image Gu1) to the stop near the turning point be of the first virtual image (route image Gu1), the control part 110 can control the display attribute of the second virtual image (AR image Gu2) or the shadow image Sh1 of the second virtual image (AR image Gu2) and express the sense of distance between the vehicle 1 and the course change point.

[0076] For example, according to the HUD device 100 of the present embodiment, the color of the second virtual image (AR image Gu2) gradually approaches the hue of the first virtual image (route image Gu1) during the period from the second virtual image (AR image Gu2) moving along the first virtual image (route image Gu1) until it stops near the turning point be of the first virtual image (route image Gu1), allowing the driver 4, as a visual discerner, to easily recognize the gradual approach of the vehicle 1 to the turn point. In other words, by controlling the display attribute of the second virtual image (AR image Gu2) when the second virtual image (AR image Gu2) is moving along the first virtual image (route image Gu1) and stops near the turning point be of the first virtual image (route image Gu1), the sense of distance between the vehicle 1 and the turn point can be accurately expressed.Also, by controlling the size, depth, blurriness, etc. of the shadow image Sh1, the sense of distance between the vehicle and the course change point can be expressed intuitively and correctly.

[0077] Furthermore, the display control device of the present embodiment represents a display control device 300 including the processing device 200, which is connected to a head-up display device (HUD device 100) which, as shown in, for example, Fig. 2, the virtual image is projected onto the display area VA virtually configured in front of the vehicle 1 as an image plane superimposed on the front landscape for display. In this display control device 300, the processing device 200, as shown in Fig. 4 (a), Fig. 4 (b), both the first virtual image (route image Gu1), which has the turn point be near the course change point of the vehicle 1, consists of the portion of the arrow shaft (shaft s) extending to the turn point be and is displayed superimposed on a road surface, and the second virtual image (AR image Gu2), whose display position changes along the first virtual image (route image Gu1) and which remains stationary as the vehicle 1 approaches the course change point near the turn point be of the first virtual image (route image Gu1), is displayed on the head-up display device (HUD device 100), and performs the control that, when displaying the second virtual image (AR image Gu2), projects the shadow image (Sh1) of the second virtual image (AR image Gu2) onto the first virtual image (route image Gu1) for display, and performs the control,which stops the projection of the shadow image Sh1 of the second virtual image (AR image Gu2) when vehicle 1 approaches the course change point and the second virtual image (AR image Gu2) is stationary near the turning point be of the first virtual image (route image Gu1).

[0078] According to the display control device 300 of the present embodiment, the processing device 200 performs the control that, when displaying the second virtual image (AR image Gu2) stationary near the turning point be of the first virtual image (route image Gu1), projects the shadow image (Sh1) of the second virtual image (AR image Gu2) onto the first virtual image (route image Gu1), and stops the projection of the shadow image (Sh1) when the second virtual image (AR image Gu2) is stationary, thereby enabling the driver 4 as a visual recognizer to intuitively and correctly perceive the distance to the turning point be of the first virtual image (route image Gu1).In other words, the driver 4 as a visual recognizer can intuitively and correctly recognize the sense of distance between the course change point such as an intersection, etc., for turning right or left, and the vehicle 1 by performing or not performing the projection of the shadow image (Sh1) of the second virtual image (AR image Gu2) onto the first virtual image (route image Gu1). Thus, the display control device 300 configured to enable the driver 4 as a visual recognizer to intuitively and correctly visually recognize the distance to the course change point such as an intersection, etc., by adaptively controlling the display positions of the first virtual image (route image Gu1) and the second virtual image (AR image Gu2).

[0079] Furthermore, the vehicle display system of the present embodiment represents a vehicle display system 1000 which, for example, as shown in Fig. 2, a head-up display device (HUD device 100) that projects the virtual image on the front landscape superimposed on the display area VA configured virtually in front of the vehicle 1 as an image plane for display, a display control device 300 that performs the control for generating the virtual image and for displaying it on the head-up display device (HUD device 100), and a navigation device 400 for providing the route guidance information to the display control device 300. In this display system 1000 for vehicles, the display control device 300 performs the control, which, as shown in FIG. Fig. 4 (a), Fig.4 (b), the first virtual image (route image Gu1), which has the turn point be near the course change point of the vehicle 1, consists of the portion of the arrow shaft (shaft s) extending to the turn point be and is displayed superimposed on the road surface, and the second virtual image (AR image Gu2), whose display position changes according to the movement of the vehicle 1 along the first virtual image (route image Gu1) and which remains stationary as the vehicle 1 approaches the course change point near the turn point be of the first virtual image (route image Gu1), is displayed on the head-up display device (HUD device 100), when displaying the second virtual image (AR image Gu2), performs the control that projects the shadow image (Sh1) of the second virtual image (AR image Gu2) onto the first virtual image (route image Gu1) for display,and when the second virtual image (AR image Gu2) is stationary near the turning point be of the first virtual image (route image Gu1) when the vehicle 1 approaches the course change point, the control is carried out which stops the projection of the shadow image (Sh1) of the second virtual image (AR image Gu2).

[0080] According to the vehicle display system 1000, when displaying the second virtual image (AR image Gu2) that is stationary near the turning point be of the first virtual image (route image Gu1), the display control device 300 performs control to project the shadow image Sh1 of the second virtual image (AR image Gu2) onto the first virtual image (route image Gu1), and when the second virtual image (AR image Gu2) is stationary, stops the projection of the shadow image Sh1, thereby enabling the driver 4 as a visual discerner to intuitively and correctly perceive the distance to the turning point be of the first virtual image (route image Gu1). In other words, the driver 4 as a visual discerner can sense the distance between the course change point such as an intersection, etc., based on whether or not the shadow image Sh1 of the second virtual image (AR image Gu2) is projected onto the first virtual image (route image Gu1).to turn right or left and the vehicle 1 can be intuitively and correctly recognized. Thus, the vehicle display system 1000 can be provided, which is configured to enable the driver 4, as a visual recognizer, to intuitively and correctly visually recognize the distance to the course change point such as an intersection, etc., by adaptively controlling the display positions of the first virtual image (route image Gu1) and the second virtual image (AR image Gu2).

[0081] The present invention is not limited to the exemplary embodiments described above, and those skilled in the art could easily modify the exemplary embodiments described above within the scope encompassed by the claims. [List of reference symbols]

[0082] 100 ... Head-up display device (HUD device), 110 ... Control part, 120 ... Image display part, 121 ... Liquid crystal display device, 122 ... Optical relay system, 200 ... Processing device (processor), 300 ... Display control device, 400 ... Navigation device, 401 ... Behavior sensor, 402 ... Camera, 403 ... LiADR, 404 ... Eye position sensor, 500 ... I / O interface, 1000 ... Vehicle display system, VA ... Display area, Gu1 (first virtual image) ... Route image, Gu2, Gu3, Gu3', Gu3" (second virtual image) ... AR image, Sh1 ... Shadow image, s ... Section of the arrow shaft of the route image, be ... Turn point of the route image, ah ... Section of the arrowhead of the route image, Gu31, Gu32, Gu33 ... Arrowhead component QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] WO 2021 / 132553 A1

[0004] Cited non-patent literature

[0000] WWAN0, IEEE802.16 - 2004 (WiMAX: Worldwide Interoperability for Microwave Access)), IEEE802.16e-Base (Mobile WiMAX), 4G, 4G-LTE, LTE Advanced, 5G

[0051]

Claims

[1] Head-up display device which projects a virtual image superimposed on a front landscape onto a display area virtually configured in front of a vehicle as an image plane for display, comprising both an image display part that displays a first virtual image having a turning point near a course change point of the vehicle, consisting of a portion of an arrow shaft extending to the turning point and displayed superimposed on a road surface, and a second virtual image whose display position changes along the first virtual image and which is displayed stationary as the vehicle approaches the course change point near the turning point, as well as a control part which, when the second virtual image is displayed, carries out a control which projects a shadow image of the second virtual image onto the first virtual image for display, and when the second virtual image stops near a turning point of the first virtual image as the vehicle approaches the course change point, carries out a control which stops the projection of the shadow image. [2] The head-up display device according to claim 1, wherein the control part performs a control that, when the second virtual image moving along the first virtual image approaches the course change point, makes the second virtual image stand still after moving to a position offset in the direction opposite to a turning direction of the turning point and either displays arrowhead components constituting a portion of the arrowhead in the turning direction of the first virtual image in an increased number and adjacent manner or displays the arrowhead components in an expanded manner. [3] The head-up display device according to claim 1 or 2, wherein the control part controls a display attribute of the second virtual image or a shadow image of the second virtual image in a period from a movement of the second virtual image along the first virtual image to a stop near a turning point of the first virtual image, thus expressing a sense of distance between the vehicle and the course change point. [4] A display control device comprising a processing device connected to a head-up display device which projects a virtual image superimposed on a front landscape onto a display area virtually configured in front of a vehicle as an image plane for display, wherein the processing device both a first virtual image having a turning point in the vicinity of a course change point of the vehicle, consisting of a portion of an arrow shaft extending to the turning point and displayed superimposed on a road surface, and a second virtual image, the display position of which changes along the first virtual image and which is displayed stationary as the vehicle approaches the course change point in the vicinity of the turning point, on the head-up display device and when displaying the second virtual image, a control is carried out which projects a shadow image of the second virtual image onto the first virtual image for display, and when the second virtual image is stationary near a turning point of the first virtual image as the vehicle approaches the course change point, a control is carried out which stops the projection of the shadow image. [5] A display system for vehicles, comprising a head-up display device that projects a virtual image superimposed on a front landscape onto a virtually configured display area in front of a vehicle as an image plane for display, a display control device that performs control for generating the virtual image and for displaying it on the head-up display device, and a navigation device for providing route guidance information to the display control device, wherein the display control device both a first virtual image having a turning point in the vicinity of a course change point of the vehicle, consisting of a portion of an arrow shaft extending to the turning point and displayed superimposed on a road surface, and a second virtual image, the display position of which changes along the first virtual image and which is displayed stationary as the vehicle approaches the course change point in the vicinity of the turning point, on the head-up display device and when displaying the second virtual image, a control is carried out which projects a shadow image of the second virtual image onto the first virtual image for display, and when the second virtual image is stationary near a turning point of the first virtual image as the vehicle approaches the course change point, a control is carried out which stops the projection of the shadow image.

Images