Display control device, head-up display device, display control method, program, and vehicle display system

Abstract

To enable the transmission of appropriate distance information that aligns with the viewer's sense of distance, even at high speeds. [Solution] A display control device 700 controls a head-up display device 100 that displays stereoscopic images, wherein the control unit 701 acquires at least position information and vehicle speed information from the vehicle 1, and controls the position of a virtual object VOB that is arranged continuously or intermittently from a first end on the near side to a second end on the far side along the road surface 6 on which the vehicle 1 travels, based on the position information, so that it is localized at a first relative position with respect to a predetermined real space position, and further controls the position of the virtual object VOB to adjust to a second relative position such that at least the second end is visible to the viewer at a greater distance than the first relative position when the vehicle speed information exceeds a preset first speed threshold.

Description

Technical Field

[0001] The present invention relates to a display control device that controls a head-up display device that causes a virtual object of a stereoscopic image to be visually recognized by a viewer riding in a vehicle as if it exists at a predetermined real space position in front of the vehicle, and the like.

Background Art

[0002] For example, Patent Document 1 discloses a head-up display device (hereinafter, simply referred to as a HUD device unless otherwise specified) that includes an image display unit having a display surface, and a relay optical system projects the display surface onto a windshield (a projection member) located in front of the viewer, thereby generating a virtual imaging surface (display area) corresponding to the display surface on the back side (outside of the vehicle) of the windshield as viewed by the viewer. When the image display unit displays an image on the display surface, a virtual object (virtual image) is displayed on the virtual imaging surface.

[0003] The HUD device superimposes a virtual object (virtual image) on the scenery (real scene) in front of the vehicle to add information to the real scene or emphasize a specific object in the real scene, thereby generating augmented reality (AR: Augmented Reality). It is known as a display device that contributes to safe and comfortable vehicle operation by accurately transmitting desired information while minimizing the movement of the line of sight of the driver, who is the viewer, while driving the vehicle.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Incidentally, HUD devices with relatively long focal lengths, such as 10m or more, can take advantage of their characteristics to use stereoscopic images and pictorial representations to make drivers perceive virtual objects as being located far away. This reduces the burden of focusing on the driver, who is the viewer, compared to a HUD device with a more common focal length of around 2.5m (because when driving a vehicle, the driver's viewpoint is set far away, and with a common HUD device, focusing the eyes to the focal point requires adjustment, which is burdensome). Furthermore, it allows virtual objects to be perceived as being superimposed in real space (as a characteristic of human perception, we can judge near distances with high accuracy, but our accuracy decreases when judging far distances, so a HUD device that projects images at a distance (a HUD device with a long focal length) makes virtual objects appear to be superimposed on the real scene more easily than a HUD device that projects images close up (a HUD device with a common focal length)), thus helping the driver grasp information.

[0006] However, when a vehicle is traveling at high speed, the driver's field of view narrows, making it difficult to accurately perceive distances. In particular, with HUD devices that have a relatively long focal length, virtual objects may appear closer than their actual display distance, which can be bothersome and hinder the transmission of accurate information. Therefore, the objective of the present invention is to provide a display control device that can transmit appropriate distance information in line with the driver's sense of distance by rendering virtual objects to appear further away than a predetermined distance when the vehicle is traveling at high speed.

[0007] Other objects of the present invention will become apparent to those skilled in the art by referring to the embodiments and best embodiments described below, as well as the accompanying drawings. [Means for solving the problem]

[0008] The following are examples of embodiments of the present invention to facilitate understanding of its outline.

[0009] The first embodiment is a vehicle display control device that controls a head-up display device which causes a viewer riding in a vehicle to perceive a virtual object of the stereoscopic image as being located at a predetermined real-space position in front of the vehicle, the control device which acquires at least vehicle position information and vehicle speed information from the vehicle, and controls the position of the virtual object which is arranged continuously or intermittently from a first end on the near side to a second end on the far side along the road surface on which the vehicle is traveling, so as to be located at a first relative position with respect to the predetermined real-space position, based on the position information, and further controls the position of the virtual object which is arranged continuously or intermittently from a first end on the near side to a second end on the far side along the road surface on which the vehicle is traveling, so as to be located at a first relative position with respect to the predetermined real-space position, and further controls the position of the virtual object which, when the vehicle speed information exceeds a preset first speed threshold, adjusts the position of the virtual object to a second relative position such that at least the second end is visible to the viewer as being further away from the first relative position.

[0010] Here, "virtual objects in stereoscopic images" refers to augmented reality elements that are projected as three-dimensional objects with volume, giving the viewer (driver) a sense of depth. For example, this refers to directional guidance images (virtual images) represented by arrow marks superimposed on intersections, as shown in Figure 1. For example, as shown in Figure 2, if the virtual range in the space where the virtual object VOB can be projected is defined as the stereoscopic image projection plane (stereoscopic image projection plane VS), then on this stereoscopic image projection plane VS, the area between the far end PU ("second end") and the near end PD ("first end") of the field of view (the field of view of the occupant, who is the viewer 4) is divided into two equal parts by a boundary line (indicated by a dashed line CL in Figure 2). Of the areas thus demarcated, the lower side (the side that appears closer to the viewer 4) can be called the near side, and the upper side (the side that appears farther to the viewer 4) can be called the far side.

[0011] Furthermore, "relative position" here refers to the coordinate position where a virtual object, which changes based on its real-space position (absolute position), is placed (drawn). For example, "A" in Figure 5 is the "first relative position" where it is localized and visible at low speeds (below the first speed threshold), and "B" is the "second relative position" where at least the second end PU (see Figure 2) is visible from the driver, who is the viewer, further away than the first relative position A at high speeds (above the first speed threshold). Also, "first speed threshold" here refers to, for example, 70 km / h, assuming the vehicle is traveling on a highway.

[0012] In the first embodiment, the control unit acquires vehicle position information and vehicle speed information, for example via the ECU, and controls the position of virtual objects, which are arranged continuously or intermittently from a first end PD (see Figure 2) on the near side to a second end PU (see Figure 2) on the far side, along the road surface, based on the position information, so that they are positioned at a first relative position "A" (see Figure 5) with respect to a predetermined real-space position. Furthermore, if the vehicle speed information exceeds a preset first speed threshold (for example, 70 km / h), the control unit performs control (movement in the direction of arrow a) to adjust the position of the virtual objects within the field of view (angle of view) of the driver, who is the observer as shown in Figure 5, to a second relative position "B" such that at least the second end PU is visible to the observer at a greater distance than the first relative position "A".

[0013] In other words, by controlling the display distance to be greater than the normal (low-speed) distance (the distance from a reference point set for the driver, who is the viewer, or a reference point set on the vehicle to the virtual object (the virtual distance from the virtual object perceived by the driver by displaying a stereoscopic image)) during high-speed driving (resulting in the display appearing further away from the viewer), the narrowing of the driver's field of vision during high-speed driving, which causes the virtual object to appear closer than its actual display distance, is suppressed. Therefore, the driver's sense of distance can be matched with the display, thereby suppressing the feeling of incongruity with the display during high-speed driving and providing a display control device that can transmit appropriate distance information in line with the driver's sense of distance.

[0014] In a second embodiment dependent on the first embodiment, the control unit may perform control to change the position of the virtual object from the second relative position to the first relative position when the vehicle speed information is equal to or below a second speed threshold that is lower than the first speed threshold.

[0015] In the second embodiment, when the vehicle speed information falls below a preset second speed threshold (for example, 70 km / h or lower), the control unit performs control to instantly return the position of the virtual object from the second relative position "B" to the first relative position "A" (moving in the direction of arrow b), as shown in Figure 5. In other words, by performing control to return to the display distance during normal low-speed driving (as a result, it appears closer to the viewer), the perception that the virtual object is farther away than its actual display distance is suppressed, and therefore, the display can be made to match the distance perception of the driver who is viewing it. This makes it possible to suppress the sense of incongruity that the driver who is viewing the display feels, even when not driving at high speeds, and to provide a display control device that can transmit appropriate distance information in line with the driver's sense of distance.

[0016] In a third embodiment dependent on the first or second embodiment, the control unit may perform control to adjust the position of the virtual object to a third relative position such that it is visible to the viewer closer than the first relative position when the vehicle speed information falls below a second speed threshold which is lower than a preset first speed threshold.

[0017] In the third embodiment, when the vehicle speed information falls below a third speed threshold which is lower than a preset first speed threshold, the control unit adjusts the position of the virtual object to a third relative position (not shown) that is even closer to the viewer 4 than the first relative position "A", as shown in Figure 5 (moving it in the direction of arrow c). In other words, by controlling the virtual object to be shorter than the normal display distance when not driving at high speeds, the feeling that the virtual object is farther away than its actual display distance is suppressed, and therefore the distance perception of the viewer (driver) can be matched with the display. This makes it possible to suppress the feeling of discomfort with the display even when not driving at high speeds and to provide a display control device that can transmit appropriate distance information in line with the viewer (driver)'s sense of distance.

[0018] In a fourth embodiment dependent on the first to third embodiments, the control unit may control the position of the first end to be the same as the first relative position, the second relative position, or a third relative position which is closer to the viewer than the second relative position.

[0019] In the fourth embodiment, the control unit controls the position of the first end to be the same as the first relative position and the second relative position or the third relative position. In this way, when changing the display distance, the discomfort of feeling that the farther parts of the virtual object are closer can be avoided by fixing one end (the first end PD) and changing the other end (the second end PU), for example, as shown by line C in Figure 5. This avoids inducing a discrepancy between the driver's sense of distance and the display, and as a result, a display control device that can transmit appropriate distance information in line with the driver's sense of distance can be provided.

[0020] In a fifth embodiment dependent on the first to fourth embodiments, the control unit may control the position of the first end at the third relative position so that it appears closer to the viewer than the position of the first end at the first relative position, and control the position of the second end so that it is the same as the position of the first end at the first relative position.

[0021] In the fifth embodiment, the control unit controls the position of the first end at a third relative position closer to the viewer's line of sight so that it appears closer to the viewer than the position of the first end at the first relative position, and controls the position of the second end to be the same as the position of the first end at the first relative position. In other words, for example, as shown in Figure 5, only the first end is adjusted to a position closer to the driver who is the viewer, while the second end remains at the first relative position "A" closer to the viewer's line of sight. This avoids misleading the driver's sense of distance and the display, and as a result, it is possible to provide a display control device that can transmit appropriate distance information in line with the driver's sense of distance.

[0022] In a sixth embodiment dependent on the first to fifth embodiments, if the control unit determines that the vehicle speed information is in a predetermined deceleration trend after adjusting the position of the virtual object to the second relative position, it may perform control to gradually change the position of the virtual object from the second relative position to the first relative position.

[0023] Here, "deceleration tendency" is indicated by deceleration, which is the rate of change of velocity per unit time (time derivative of velocity). For example, the deceleration when the speed falls below 70 km / h is set to 1.5 m / s², which is the maximum deceleration when the throttle is OFF. If this deceleration is 1.5 m / s² or greater, it is determined that vehicle 1 is decelerating.

[0024] In the sixth aspect, when the control unit adjusts the position of the virtual object to the second relative position, if the deceleration is, for example, 1.5 m / s^2 or more, the position of the virtual object is gradually changed, for example, as shown in FIG. 5, from the second relative position "B" on the back side to the first relative position "A" on the front side (in the line C, gradually moving from the point p2 where the second relative position "B" on the back side overlaps with the viewing angle of the driver, who is the viewer indicated by the dotted line, to the point p1 where the dotted line intersects with the first relative position "A"; in other words, fixing the lower end (the first end PD on the front side in the driver's line of sight) of the virtual object and gradually moving the upper end (the second end PU on the back side in the driver's line of sight) away (in the direction indicated by the arrow b'), for example, when decelerating when changing the route at an intersection or the like, by gradually returning the display distance of the virtual object, the sense of overlap with a specific object can be kept constant, and the discomfort that occurs between the distance sense of the driver, who is the viewer, and the display can be suppressed more naturally.

[0025] In a seventh aspect that depends on the first to sixth aspects, the control unit acquires distance information to a specific object at the predetermined real-space position in front of the vehicle, and when it is determined that the distance information becomes less than a predetermined distance threshold set in advance when the position of the virtual object is adjusted to the second relative position, the control unit may perform control to gradually change the position of the virtual object from the second relative position to the first relative position.

[0026] In the seventh aspect, the control unit acquires distance information to a specific object (for example, the remaining distance to an intersection) at a predetermined real-space position in front of the vehicle, and when the distance information (the remaining distance to the intersection) becomes less than a predetermined distance threshold, for example, 30 [m], which is the timing for driving the direction indicator, when the position of the virtual object is adjusted to the second relative position "B", the control unit performs control to gradually change the position of the virtual object from the second relative position to the first relative position. Therefore, for example, when decelerating when changing the route at an intersection or the like, the discomfort that occurs between the distance sense of the driver, who is the viewer, and the display due to the change in the display distance can be suppressed more naturally.

[0027] An eighth aspect is a head-up display device that includes a display for displaying a stereoscopic image and a relay optical system that directs the display light of the stereoscopic image toward a projection member provided on a vehicle, and that causes a viewer boarding the vehicle to visually recognize the virtual object of the stereoscopic image as if it exists at a predetermined real-space position in front of the vehicle. The head-up display device includes an image storage unit that stores the stereoscopic image, and acquires at least the vehicle position information and vehicle speed information from the vehicle, and controls the position of the virtual object that is continuously or intermittently arranged from a first end on the near side to a second end on the far side along the road surface on which the vehicle travels, based on the position information, so as to be positioned at a first relative position with respect to the predetermined real-space position. Further, when the vehicle speed information exceeds a preset first speed threshold value, the control unit performs control to adjust the position of the virtual object to a second relative position such that at least the second end is visually recognized farther from the viewer than the first relative position.

[0028] In the eighth aspect, the head-up display device has a control unit that acquires vehicle position information and vehicle speed information, and controls the position of virtual objects that are arranged continuously or intermittently from a first end PD (see Figure 2) on the near side to a second end PU (see Figure 2) on the far side, along the road surface, based on the position information, so that they are positioned at a first relative position "A" (see Figure 5) with respect to a predetermined real-space position. Furthermore, if the vehicle speed information exceeds a preset first speed threshold (for example, 70 km / h), the control unit performs control (arrow a) to adjust the position of the virtual objects within the field of view (angle of view) of the driver, who is the viewer as shown in Figure 5, to a second relative position "B" (see Figure 5) such that at least the second end PU is visible to the viewer at a greater distance than the first relative position "A". In other words, by controlling the display to increase the displayed distance during high-speed driving compared to normal (low-speed) driving (resulting in the display appearing further away from the viewer), the narrowing of the driver's field of vision during high-speed driving, which causes virtual objects to appear closer than their actual displayed distance, is suppressed. Therefore, the driver's sense of distance can be matched with the display, thereby suppressing the feeling of incongruity with the display during high-speed driving and providing a head-up display device that can transmit appropriate distance information in line with the driver's sense of distance.

[0029] A ninth aspect is a display control method for controlling a head-up display device that includes a display unit for displaying stereoscopic images and a relay optical system for directing the display light of the stereoscopic images to a projection member provided on a vehicle, wherein the device causes a viewer riding in the vehicle to perceive the virtual objects of the stereoscopic images as being located at a predetermined real-space position in front of the vehicle, comprising the steps of: acquiring at least vehicle position information and vehicle speed information from the vehicle; controlling the position of the virtual objects, which are arranged continuously or intermittently from a first end on the near side to a second end on the far side so as to follow the road surface on which the vehicle travels, based on the position information so as to be localized at a first relative position with respect to the predetermined real-space position; and, when the vehicle speed information exceeds a preset first speed threshold, controlling the position of the virtual objects to a second relative position such that at least the second end is visible to the viewer at a distance further away than the first relative position.

[0030] In the ninth aspect, the display control device first acquires vehicle position information and vehicle speed information, then controls the position of virtual objects, which are arranged continuously or intermittently from a first end PD (see Figure 2) on the near side to a second end PU (see Figure 2) on the far side along the road surface, based on the position information so that they are positioned at a first relative position with respect to a predetermined real-space position, and then, when the vehicle speed information exceeds a preset first speed threshold (for example, 70 km / h), it controls the position of the virtual objects within the field of view (angle of view) of the driver, who is the viewer as shown in Figure 5, to a second relative position "B" such that at least the second end (PU) is visible to the viewer at a greater distance than the first relative position "A" (moving it in the direction indicated by arrow a). In other words, by controlling the display to increase the displayed distance during high-speed driving compared to normal (low-speed) driving (resulting in the display appearing further away from the viewer), the driver's field of vision narrows during high-speed driving, which can suppress the perception that virtual objects are closer than their actual displayed distance. Therefore, the driver's sense of distance can be matched with the display, thereby suppressing the feeling of incongruity with the display during high-speed driving and transmitting appropriate distance information that aligns with the driver's sense of distance.

[0031] The tenth embodiment is a program for a display control device that controls a head-up display device, comprising a display unit for displaying stereoscopic images and a relay optical system for directing the display light of the stereoscopic images to a projection member provided on the vehicle, wherein the program causes a viewer riding in the vehicle to perceive the virtual objects of the stereoscopic images as being located at a predetermined real-space position in front of the vehicle, the program causing a processor in the display control device to execute: a process for acquiring at least vehicle position information and vehicle speed information from the vehicle; a process for controlling the position of the virtual objects, which are arranged continuously or intermittently from a first end on the near side to a second end on the far side so as to be aligned with the road surface on which the vehicle travels, so as to be positioned at a first relative position with respect to the predetermined real-space position, based on the position information; and a process for controlling the position of the virtual objects to adjust to a second relative position such that at least the second end is visible to the viewer at a distance further away than the first relative position, when the vehicle speed information exceeds a preset first speed threshold.

[0032] In the tenth embodiment, for example, a processor built into the display control device sequentially reads and executes a program recorded in a built-in memory to first acquire vehicle position information and vehicle speed information, then controls the position of virtual objects that are arranged continuously or intermittently from a first end PD (see Figure 2) on the near side to a second end PU (see Figure 2) on the far side along the road surface, based on the position information, so that they are positioned at a first relative position "A" (see Figure 5) with respect to a predetermined real-space position, and then, when the vehicle speed information exceeds a preset first speed threshold (for example, 70 km / h), controls are performed to adjust the position of the virtual objects within the field of view (angle of view) of the driver, who is the viewer, to a second relative position "B" such that at least the second end (PU) is visible to the viewer at a greater distance than the first relative position "A" (moving it in the direction indicated by arrow a), as shown in Figure 5. In other words, by controlling the display to increase the displayed distance during high-speed driving compared to normal (low-speed) driving (resulting in the display appearing further away from the viewer), the driver's field of vision narrows during high-speed driving, which can suppress the perception that virtual objects are closer than their actual displayed distance. Therefore, the driver's sense of distance can be matched with the display, thereby suppressing the feeling of incongruity with the display during high-speed driving and transmitting appropriate distance information that aligns with the driver's sense of distance.

[0033] The eleventh embodiment is a vehicle display system comprising: a head-up display device comprising a display unit for displaying stereoscopic images; a relay optical system for directing the display light of the stereoscopic images to a projection member provided on the vehicle; a display control device that controls the virtual objects of the stereoscopic images to appear to a viewer riding in the vehicle as if they were located at a predetermined real-space position in front of the vehicle; and an electronic control unit, wherein the display control device acquires at least the vehicle's position information and vehicle speed information via the electronic control unit, controls the position of the virtual objects which are arranged continuously or intermittently from a first end on the near side to a second end on the far side along the road surface on which the vehicle travels, so as to be localized at a first relative position with respect to the predetermined real-space position, and further controls the position of the virtual objects to a second relative position such that at least the second end is visible to the viewer further away from the first relative position than the first relative position when the vehicle speed information exceeds a preset first speed threshold, and displays the drawn virtual objects on the head-up display device.

[0034] In the eleventh embodiment, the display control device acquires vehicle position information and vehicle speed information via an electronic control unit, and controls the position of virtual objects, which are arranged continuously or intermittently from a first end PD (see Figure 2) on the near side to a second end PU (see Figure 2) on the far side, along the road surface on which the vehicle is traveling, so as to be localized at a first relative position "A" (see Figure 5) with respect to a predetermined real-space position, and when the vehicle speed information exceeds a preset first speed threshold (for example, 70 km / h), the device controls the position of the virtual objects within the field of view (angle of view) of the driver, who is the viewer as shown in Figure 5, to a second relative position "B" such that at least the second end (PU) is visible to the viewer at a greater distance than the first relative position "A" (moving it in the direction indicated by arrow a). In other words, by controlling the display to increase the displayed distance during high-speed driving compared to normal (low-speed) driving (resulting in the display appearing further away from the viewer), the narrowing of the driver's field of vision during high-speed driving, which causes virtual objects to appear closer than their actual displayed distance, is suppressed. Therefore, the driver's sense of distance can be matched with the display, thereby suppressing the feeling of incongruity with the display during high-speed driving and providing a vehicle display system that can transmit appropriate distance information in line with the driver's sense of distance.

[0035] Those skilled in the art will readily understand that the embodiments of the present invention illustrated can be further modified without departing from the spirit of the invention. [Brief explanation of the drawing]

[0036] [Figure 1] Figure 1 shows an example of the configuration of a vehicle display system including a head-up display (HUD) device. [Figure 2] Figure 2 shows an example of how content images are displayed when a driver, who is seated in the driver's seat of a vehicle, is looking forward to drive. [Figure 3] Figure 3 is a flowchart showing the basic operation of the display control device according to an embodiment of the present invention. [Figure 4] Figure 4 is a flowchart showing the applied operation of the display control device according to an embodiment of the present invention after changing the display distance. [Figure 5] Figure 5 is a diagram used to illustrate the operation of the display control device according to an embodiment of the present invention, and is a side view of the image plane within the field of view (angle of view) of the driver, who is the viewer. [Modes for carrying out the invention]

[0037] The best embodiments described below are used to facilitate understanding of the present invention. Therefore, those skilled in the art should note that the present invention is not unduly limited by the embodiments described below (hereinafter referred to as "these embodiments").

[0038] (Configuration of the embodiment) Embodiments of the present invention will be described below with reference to the drawings. Refer to Figure 1. Figure 1 is a diagram showing an example of the configuration of a vehicle display system 3 including a head-up display device (HUD device 100), in this case a parallax-type 3D-HUD device.

[0039] In Figure 1, the direction along the line segment connecting the left and right eyes EL and ER of the observer 4 (in other words, the width direction of vehicle 1) is defined as the left-right direction (or lateral direction: X direction), the direction along the line segment perpendicular to the left-right direction and perpendicular to the ground or a surface equivalent to the ground (here, the road surface 6) is defined as the up-down direction (or height direction: Y direction), and the direction along the line segments perpendicular to both the left-right and up-down directions (the direction indicating the forward and backward direction of vehicle 1) is defined as the forward-backward direction (Z direction). Here, the positive Z direction is forward, and the negative Z direction is backward.

[0040] The vehicle display system 3 installed in vehicle 1 in Figure 1 includes a pupil detection camera 43 for pupil (or face) detection that detects the direction and position of the gaze of the left and right eyes EL and ER of the viewer 4 (mainly the driver riding in vehicle 1), a forward (broadly speaking, surrounding) imaging camera (e.g., stereo camera) 45, an image processing unit 46 (including a distance measuring unit 47 and an object type / size detection unit 48), a HUD device 100, a communication unit 123 (having functions such as GPS communication and vehicle-to-vehicle communication), and an ECU (electronic control unit) 120 capable of collecting various information about vehicle 1 (e.g., lighting on / off information, vehicle speed information, engine information, etc.).

[0041] Furthermore, the vehicle display system 3 may also include a navigation device 121. The navigation device 121 incorporates a positioning unit such as a GPS (Global Positioning System) and has map information, and can generate navigation information that includes distance information from at least the current position of the vehicle 1 to a predetermined real-space location such as an intersection. The navigation device 121 can update the map database by acquiring the latest map information, for example, by communicating with an external center (not shown) via a V2X (Vehicle to X) type communication system. Here, the map information stored in the map database is mapping data that has been digitized to represent the driving environment of the vehicle 1. It is particularly preferable that the mapping data be digital data of a highly accurate dynamic map. Here, a "dynamic map" is a digital map that combines a vast amount of constantly changing dynamic information, such as traffic regulations and construction information, accidents and congestion, pedestrians and signal information, with static information such as highly accurate 3D position information (road surface information, diagonal line information, 3D structures).

[0042] Furthermore, the vehicle display system 3 may also be equipped with a radar unit 125 or the like as a distance measuring means, if necessary. The distance measuring means can be used, for example, to measure the distance from vehicle 1 to the vehicle ahead (object ahead). Based on this measurement result, display control can be performed, for example, by performing a parallax-type 3D display in the area where there is no object ahead.

[0043] Furthermore, the distance measuring unit 47 included in the image processing unit 46 may, for example, refer to a pair of original images captured by a stereo camera, such as the surrounding imaging camera 45, and detect parallax for the same object (referred to as the target object) by stereo matching, for example, searching for corresponding points in each image, and measure the distance to the target object using the principle of triangulation based on this parallax.

[0044] Alternatively, the radar unit 125 may measure the distance and direction to the target object (forward target object) by emitting radio waves toward the target object (forward target object) and measuring the reflected waves.

[0045] The information acquisition unit 119 of the HUD device 100 acquires location information, distance information, etc. of the vehicle 1 as appropriate from the ECU 120, navigation device 121, communication unit 123, radar unit 125, etc., and supplies it to the control unit 701 of the stereoscopic display device 111. The HUD device 100 is installed, for example, in the dashboard of the vehicle 1 (see 5 in Figure 2). This HUD device 100 has a stereoscopic display device 111, a relay optical system 116, a light emission window 118, and an information acquisition unit 119. The information acquisition unit 119 can acquire various information from the communication unit 123, ECU 120, radar unit 125, image processing unit 46, etc.

[0046] The stereoscopic display device 111 is, in this case, a parallax-type 3D display device. This stereoscopic display device (parallax-type 3D display device) 111 includes an image generation unit 112, an image display unit (a display device such as a liquid crystal display device, having an image display surface 113a for displaying images) 113, a light ray separation unit 114 which has a lenticular lens or a parallax barrier (parallax barrier), etc., and separates the light emitted from the image display surface 113a into light rays for the left and right eyes, and a display control device 700 of this embodiment.

[0047] The display control device 700 of this embodiment includes a control unit 701 that performs display control when displaying a virtual object VOB so that it is visible to a viewer 4 (mainly the driver) riding in the vehicle 1, as if it were located at a predetermined real-space position in front of the vehicle 1 (for example, the center of an intersection). The control unit 701 can, for example, control the operation of the image generation unit (specifically, for example, image rendering) 112 and the display unit 113, and can also switch between 2D and 3D display, and can also control the visibility of content images as a measure against crosstalk.

[0048] The relay optical system 116 has a curved mirror (concave mirror, etc.) 117 that reflects light from the light separation unit 114 and projects the image display light K1 and K2 onto the windshield (projection target member) 2. However, it may also have other optical elements (lenses, auxiliary reflectors, etc.).

[0049] In Figure 1, the stereoscopic display device 111 of the HUD device 100 displays parallax viewpoint images (sometimes referred to as "parallax images") for each of the left and right eyes. As shown in Figure 1, each parallax image is displayed as a virtual image VL, VR on the first display surface, which is the imaging surface (imaging area) PS. A stereoscopic image with a sense of depth (stereoscopic image, 3D image) is displayed as a virtual object VOB on the second display surface, which is the convergence surface (stereoscopic image imaging surface VS), located further back from the viewer 4 than the first display surface PS.

[0050] If 2D display control is performed instead of 3D display control, a planar virtual image will be displayed on the first display surface PS. Furthermore, since the perception of distance can be expressed by changes in display size and display position (which depend on the movement speed of vehicle 1), this can be achieved not only with 3D display that controls the convergence angle and focus, but also with pseudo-2D display.

[0051] The control unit 701 acquires at least the position information and vehicle speed information of the vehicle 1, and controls the position of the virtual object VOB, which is arranged continuously or intermittently from the first end on the near side (see PD in Figure 2, described later) to the second end on the far side (see PU in Figure 2, described later) along the road surface 6 on which the vehicle 1 travels, based on the position information so that it is positioned at a first relative position with respect to a predetermined real space position. Furthermore, if the vehicle speed information exceeds a preset first speed threshold, the control unit 701 can adjust the position of the virtual object VOB to a second relative position (see "B" in Figure 5, described later) such that at least the second end PU is visible to the viewer 4 from a distance greater than the first relative position ("A" in Figure 5, described later). For example, Figure 5 shows a side view of the image plane within the field of view (angle of view) of the driver, who is the observer 4. The control unit 701 controls the virtual object VOB so that its image plane changes according to the first relative position "A" in the normal speed range (low speed) and according to the second relative position "B" or line C in the high speed range. Further details will be described later.

[0052] In this context, "virtual object VOB" refers to an augmented reality element that is superimposed on the road surface 6, such as a directional guidance image (virtual image) represented by an arrow mark superimposed on an intersection, etc. If the virtual range in the space in which the virtual object VOB can be imaged is defined as the stereoscopic image forming surface VS (display area), then in this stereoscopic image forming surface VS, the area between the upper end PU (second end) and the lower end PD (first end) of the field of view (the field of view of the occupant, who is the viewer 4) is divided into two equal parts by a boundary line (indicated by a dashed line CL in Figure 2). Of the areas thus partitioned, the lower side (the side that appears closer to the viewer 4) can be called the near side, and the upper side (the side that appears farther to the viewer 4) can be called the far side.

[0053] Furthermore, "relative position" here refers to the coordinate position where a virtual object VOB, which changes based on its real-space position (absolute position), is placed (drawn). For example, "A" shown in Figure 5, described later, is the "first relative position" where it is localized and visible at low speeds (when the speed is below the first speed threshold), and "B" is the "second relative position" where at least the second end PU is visible to the viewer 4 at a greater distance than the first relative position A at high speeds (when the speed is above the first speed threshold). Also, "first speed threshold" here refers to, for example, 70 km / h, assuming that vehicle 1 is traveling on a highway.

[0054] Furthermore, the control unit 701 can control the position of the virtual object VOB from the second relative position (see "B" in Figure 5) to the first relative position (see "A" in Figure 5) if the vehicle speed information falls below a second speed threshold that is equal to or lower than a preset first speed threshold.

[0055] Furthermore, if the vehicle speed information falls below a third speed threshold which is lower than a preset first speed threshold, the control unit 701 can adjust the position of the virtual object VOB to a third relative position (not shown) that is closer to the viewer 4, the driver, than to the first relative position (shown as "A" in Figure 5).

[0056] Furthermore, the control unit 701 can control the position of the first end PD (see Figure 2) to be the same as a first relative position (see "A" in Figure 5), a second relative position (see "B" in Figure 5), or a third relative position (not shown) that is closer to the viewer 4, the driver, than the second relative position (see "B" in Figure 5).

[0057] Furthermore, the control unit 701 can control the position of the first end PD (see Figure 2) at a third relative position (not shown) which is closer to the viewer 4, the driver, than at the second relative position (see "B" in Figure 5), so that it is closer to the viewer 4, the driver, than at the first relative position (see "A" in Figure 5), and can also control the position of the second end PU (see Figure 2) to be the same as the position of the first end PD (see Figure 2) at the first relative position (see "A" in Figure 5).

[0058] Furthermore, when the control unit 701 adjusts the position of the virtual object VOB to a second relative position (see "B" in Figure 5), if it determines that the vehicle speed information is in a predetermined deceleration trend, it can control the position of the virtual object VOB to gradually change from the second relative position (see "B" in Figure 5) to the first relative position (see "A" in Figure 5). The "deceleration trend" is indicated by the deceleration, which is the rate of change of velocity per unit time (time derivative of velocity), and the deceleration when the speed falls below 70 km / h is set to, for example, the maximum deceleration when the accelerator is turned off, which is 1.5 m / s^2.

[0059] Furthermore, the control unit 701 acquires distance information from the information acquisition unit 119 to a specific object at a predetermined real-space position in front of the vehicle 1. When the position of the virtual object VOB is adjusted to a second relative position "B" (see Figure 5), if the control unit 701 determines that the distance information has fallen below a predetermined distance threshold, it can perform control to gradually change the position of the virtual object VOB from the second relative position "B" (see Figure 5) to the first relative position "A" (see Figure 5). Here, the "predetermined distance threshold" is, for example, 30 [m], which is the timing for activating the turn signal before an intersection.

[0060] The control unit 701 is configured to include a display distance adjustment unit 701a, a display control unit 701b, and a storage unit 701c in order to realize the functions described above.

[0061] The display distance adjustment unit 701a controls the position of virtual objects VOB, which are arranged continuously or intermittently from the first end PD (see Figure 2) on the near side to the second end PU (see Figure 2) on the far side, along the road surface 6 on which the vehicle 1 travels, based on position information acquired from the vehicle 1 (ECU 120) via the information acquisition unit 119, so that they are positioned at a first relative position "A" (see Figure 5) with respect to a predetermined real-space position. Furthermore, based on acquired vehicle speed information, the unit adjusts the position of the virtual objects VOB to a second relative position "B" (see Figure 5) such that the second end PU (see Figure 2) is visible to the viewer 4 from a distance greater than the first relative position "A" (see Figure 5), or returns it to the first relative position "A" (see Figure 5).

[0062] Furthermore, the display control unit 701b draws a content image representing a specific object in the foreground of the vehicle 1, including a virtual object VOB generated by the image generation unit 112, into a VRAM (Video RAM) area (a display area having a storage capacity of at least the stereoscopic image forming surface VS) allocated to a predetermined area of ​​the storage unit 701c. The content image drawn therein is read out in synchronization with the display timing of the display unit 113 (image display unit), and the virtual object VOB is superimposed on a specific object in the foreground (see 300 in Figure 2, described later) and displayed on the display unit 113 (image display unit). In addition to the display area described above, the storage unit 701c also stores the program for this embodiment (display control program) allocated to a predetermined area (program area).

[0063] The control unit 701 includes a processor with an internal or external memory unit 701c (such as ROM, RAM, or flash memory) and a graphics controller in order to perform the above-described control. The processor sequentially reads the program of this embodiment (display control program) recorded in the memory (memory unit 701c) and works in cooperation with the graphics controller to execute the above-described functions. Furthermore, at least some of the above-described functions may be performed using a configuration that includes an FPGA (Field Programmable Gate Array), an NPU (Neural Network Processing Unit), or other IP cores (Intellectual Property Cores) equipped with dedicated functions, rather than relying on the processor.

[0064] Figure 2 shows the display configuration of content images as seen by the driver, who is the viewer 4, when he is seated in the driver's seat of vehicle 1 and facing forward to drive. The vehicle display system 3 of this embodiment can draw and display a virtual object VOB on a stereoscopic image plane VS (a display area virtually set in front of vehicle 1) in the foreground superimposed region 600 which is seen overlapping with the foreground 300 of vehicle 1. The HUD device 100 (not shown in Figure 2), which is installed in the dashboard 5 of vehicle 1, emits display lights K1 and K2 (see Figure 1) toward the windshield 2 (projection member) and projects them onto the stereoscopic image plane VS (display area) which is virtually set forward of the windshield 2 (positive Z-axis direction), thereby making the virtual object VOB visible. As a result, the driver, who is the viewer 4, can see the virtual object VOB superimposed on the foreground 300, which is real space seen through the windshield 2. In the figure, number 8 indicates the steering wheel.

[0065] The stereoscopic image plane VS (display area) is located in the area (foreground overlap area 600) that overlaps with the windshield 2 of the vehicle 1 as seen by the driver, who is the viewer 4. In this embodiment, the display control device 700 increases the display distance compared to the normal (low-speed) display distance to suppress the feeling that the virtual object VOB is closer than its actual display distance when the viewer 4's field of vision narrows during high-speed driving (resulting in the object appearing further away). This makes it possible to match the driver's sense of distance with the display, suppress the feeling of discomfort with the display during high-speed driving, and transmit appropriate distance information that aligns with the driver's sense of distance. As shown in Figure 2, the stereoscopic image plane VS (display area) is divided into two equal parts by a boundary line (indicated by a dashed line CL in Figure 2) between the upper end PU (second end) and the lower end PD (first end) of the field of view (the field of view of the occupant, who is the viewer 4). Of the areas thus divided, the lower side (the side that appears closer to the viewer 4) is called the foreground side, and the upper side (the side that appears farther to the viewer 4) is called the background side.

[0066] (Operation of the embodiment) Figure 3 is a flowchart illustrating the basic operation of the display control device 700 in this embodiment, and Figure 4 is a flowchart illustrating the applied operation. Figure 5 is a diagram included to illustrate the operation of the display control device 700 in this embodiment, and is a side view of the image plane within the field of view (angle of view) of the driver, who is the viewer 4.

[0067] The operation of the display control device 700 of this embodiment shown in Figure 1 will be described in detail below with reference to Figures 3 to 5. First, the basic operation of the display control device 700 of this embodiment shown in Figure 1 will be explained with reference to Figures 3 and 5.

[0068] In Figure 3, the display control device 700 of this embodiment has a control unit 701 that acquires vehicle position information and vehicle speed information from the ECU 120 or the like via an information acquisition unit 119 (step ST11). Next, the control unit 701 controls the display distance adjustment unit 701a to draw (place) the virtual object VOB in the display area (3D image forming surface VS) allocated in a predetermined area of ​​the storage unit 701c so that it is positioned at a first relative position (step ST12). Here, the "first relative position" is the coordinate position where the virtual object VOB, which changes with respect to the real space position (absolute position), is placed (drawn), and refers to a position that is positioned and visible at low speeds, for example, "A" as shown in Figure 5.

[0069] Next, the control unit 701 compares the vehicle speed information acquired by the display distance adjustment unit 701a with a first speed threshold (here, 70 km / h) that has been previously recorded in a predetermined area of ​​the storage unit 701c (step ST13). If the vehicle speed information exceeds the first speed threshold of 70 km / h (step ST13 "YES"), the display distance adjustment unit 701a controls the position of the virtual object VOB to change from the first relative position "A" to the second relative position and to draw (place) it in the display area (stereoscopic image imaging surface VS) allocated in a predetermined area of ​​the storage unit 701c (step ST14). Here, the "second relative position" refers to a position "B" such that, for example, as shown in Figure 5, at least the second end PU (see Figure 2) is visible from a distance further away from the viewer 4 than the first relative position A.

[0070] In other words, for example, the control unit 701 (display distance adjustment unit 701a) controls the position of the virtual object VOB within the field of view (angle of view) of the driver, who is the viewer 4, as shown in Figure 5, to a second relative position "B" (see Figure 5) such that at least the second end PU (see Figure 2) is visible to the viewer 4 at a distance greater than the first relative position "A" (see Figure 5) (moves in the direction of arrow a). In this way, the control unit 701 (display distance adjustment unit 701a) controls the display distance to be greater than the display distance during normal driving (low speed) when driving at high speed (as a result, the virtual object VOB is visible to the viewer 4 at a distance), thereby suppressing the feeling that the virtual object VOB is closer than its actual display distance when the viewer 4's field of view narrows during high-speed driving. Therefore, the driver's sense of distance can be matched with the display, thereby suppressing the feeling of discomfort with the display when driving at high speed and transmitting appropriate distance information that is in line with the driver's sense of distance.

[0071] In step S14, when adjusting (changing) the display distance, the display distance adjustment unit 701a may control the position of the first end PD (see Figure 2) on the near side to be the same as the first relative position "A" (see Figure 5) and the second relative position "B" (see Figure 5). For example, the position of the first end PD (see Figure 2) may be fixed and the position of the second end PU (see Figure 2) may be changed to be further away, or the entire unit (the first end PD and the second end PU) may be changed to be further away (step ST140). In this way, when the control unit 701 (display distance adjustment unit 701a) adjusts the display distance, it can address the discomfort of a distant part feeling close by fixing one side (the first end PD) and changing the other side (the second end PU), for example, as shown by line C in Figure 5. This eliminates the mismatch between the driver's (viewer 4) sense of distance and the display, and as a result, it can transmit appropriate distance information that is in line with the driver's (viewer 4) sense of distance.

[0072] On the other hand, in step ST13, if it is determined that the vehicle speed information does not exceed the first speed threshold of 70 km / h (step ST13 "NO"), the display distance adjustment unit 701a compares the vehicle speed information obtained from the ECU 120 with a second speed threshold (here, a value equal to or lower than 70 km / h) that is stored in advance in a predetermined area of ​​the storage unit 701c (step ST15). If the vehicle speed information is below the second speed threshold (step ST15 "YES"), the display distance adjustment unit 701a changes (returns) the position of the virtual object VOB from the second relative position "B" (see Figure 5) to the first relative position "A" (see Figure 5) and controls it to draw (place) it in the display area (3D image imaging plane VS) allocated in a predetermined area of ​​the storage unit 701c (step ST16).

[0073] In other words, when the acquired vehicle speed information falls below a preset second speed threshold (for example, 70 km / h or lower), the display distance adjustment unit 701a controls the position of the virtual object VOB to move quickly from the second relative position "B" to the first relative position "A" (moving in the direction of arrow b), as shown in Figure 5. By controlling the display distance to return to that of normal driving (low speed) other than high-speed driving (as a result, the virtual object VOB appears closer to the viewer 4), the feeling that the virtual object VOB is farther away than its actual display distance is suppressed, and therefore the display can be matched with the distance perception of the viewer 4, who is the driver. This suppresses the feeling of incongruity that the viewer 4, who is the driver, feels regarding the display, even when not driving at high speeds, and enables the transmission of appropriate distance information that matches the driver's sense of distance.

[0074] On the other hand, in step ST15, if it is determined that the vehicle speed information is not below the second speed threshold (step ST13 "NO"), the display distance adjustment unit 701a compares the vehicle speed information obtained from the ECU 120 with a third speed threshold (in this case, a value lower than 70 km / h) that has been previously recorded in a predetermined area of ​​the storage unit 701c (step ST17). If the vehicle speed information is below the third speed threshold (step ST17 "YES"), the display distance adjustment unit 701a controls the position of the virtual object VOB from the first relative position "A" to the third relative position and draws (places) it in the display area allocated to a predetermined area of ​​the storage unit 701c (step ST18).

[0075] In other words, when the vehicle speed information falls below a third speed threshold which is lower than a preset first speed threshold, the display distance adjustment unit 701a controls the position of the virtual object VOB to a third relative position (not shown) which is closer to the viewer 4 than the first relative position "A", as shown in Figure 5 (arrow c). In this way, the control unit 701 (display distance adjustment unit 701a) controls the virtual object VOB to be shorter than the normal display distance when not driving at high speeds, thereby suppressing the feeling that the virtual object VOB is farther away than its actual display distance, and thus making it possible to match the distance interval of the viewer 4 (driver) with the display. This suppresses the feeling of discomfort with the display even when not driving at high speeds, and makes it possible to transmit appropriate distance information that is in line with the viewer 4 (driver)'s sense of distance.

[0076] In step ST18, when adjusting (changing) the display distance, the display distance adjustment unit 701a may control the position of the first end PD (see Figure 2) on the near side to be the same as the first relative position "A" (see Figure 5) and the third relative position (set in the direction indicated by arrow c in Figure 5). Here, the display distance adjustment unit 701a may, for example, fix the position of the second end PU (see Figure 2) and change the position of the first end PD (see Figure 2) to be closer, or change the entire unit (the first end PD and the second end PU) to be closer (step ST180). In this way, when the control unit 701 (display distance adjustment unit 701a) adjusts the display distance, it can eliminate the misunderstanding that distant parts may appear close by fixing one end (second end PU) and changing the other end (first end PD), thereby eliminating the mismatch between the driver's (viewer 4) sense of distance and the display. As a result, it can transmit appropriate distance information that is in line with the driver's (viewer 4) sense of distance.

[0077] Furthermore, if it is determined in step ST17 that the acquired vehicle speed information is not below the third speed threshold (step ST17 "NO"), the processing from step ST12 onwards is repeated. In addition, although not shown in the flowchart of Figure 3, after the display distance adjustment unit 701a changes the display distance, the display control unit 701b draws a content image that shows a specific object in the foreground 300 of the vehicle 1 (see Figure 2), including the virtual object VOB generated by the image generation unit 112, into the VRAM area (display area having a storage capacity of at least the stereoscopic image forming surface VS) allocated in a predetermined area of ​​the storage unit 701c. The content image drawn therein is read out in synchronization with the display timing of the display unit 113 (image display unit), and the virtual object VOB is superimposed on the specific object in the foreground and displayed on the display unit 113 (image display unit).

[0078] Figure 4 is a flowchart showing the applied operation of the display control device 700 of this embodiment after changing the display distance. Figure 4(a) is an embodiment 1 in which the position of the virtual object VOB is determined by the deceleration trend when decelerating at a point where a lane change is made, such as at an intersection. Figure 4(b) is an embodiment 2 in which the position of the virtual object VOB is determined by the remaining distance (distance information) to the intersection. The operations of embodiment 1 and embodiment 2 will be described below with reference to Figures 4(a)(b) and Figure 5.

[0079] The first embodiment will be described first. In Figure 4(a), the control unit 701, after the display distance adjustment unit 701a performs the basic processing operation shown in Figure 2 to change the position of the virtual object VOB from the first relative position "A" (see Figure 5) to the second relative position "B" (see Figure 5) and draws it on the display area (stereoscopic image imaging surface VS), acquires vehicle speed information of vehicle 1 from the ECU 120 (step ST21), and determines whether the acquired vehicle speed information is in a predetermined deceleration trend (step ST22). Here, the predetermined deceleration trend is indicated by the deceleration, which is the rate of change of velocity per unit time (time derivative of velocity). For example, if the deceleration is greater than or equal to the deceleration when the speed is below 70 km / h (first speed threshold) (1.5 m / s^2, which is the maximum deceleration when the slot is OFF), it is determined that vehicle 1 is in a deceleration trend.

[0080] If it is determined in step ST22 that vehicle 1 is decelerating (step ST22 "YES"), the display distance adjustment unit 701a controls the position of the virtual object VOB to gradually change from the second relative position "B" on the far side to the first relative position "A" on the near side, for example, as shown in Figure 5. For example, as shown by line C in Figure 5, the display distance of the second end PU of the virtual object VOB is gradually changed (gradually changed) from point p2 where the field of view of the driver, who is the viewer 4 shown by the dotted line, overlaps with the second relative position "B" on the far side, to point p1 where the dotted line intersects with the first relative position "A" (in the direction shown by arrow b') (step ST23).

[0081] In this way, the control unit 701 (display distance adjustment unit 701a) fixes the lower end of the virtual object VOB (the first end PD on the near side from the driver's perspective) and controls the upper end (the second end PU on the far side from the driver's perspective) to move further away (in the direction indicated by arrow b'). For example, when decelerating, such as when changing lanes at an intersection, the display distance of the virtual object VOB is gradually returned to a constant level, maintaining a consistent sense of superimposition with a specific object. Furthermore, the sense of distance between the viewer 4 (the driver) and the display is suppressed more naturally.

[0082] In step ST23, when gradually changing from the second relative position "B" (see Figure 5) to the first relative position "A" (see Figure 5), control may be performed to gradually change the position according to the passage of time, or to gradually change it based on the remaining distance to the intersection (step ST230). The remaining distance to the intersection can be determined by referring to GPS information and map information acquired from the navigation device 121 via the information acquisition unit 119.

[0083] Furthermore, although not shown in Figure 4(a), after the display distance adjustment unit 701a has changed the display distance as described above, the display control unit 701b draws a content image showing a specific object in the foreground of the vehicle 1, including the virtual object VOB generated by the image generation unit 112, into a VRAM area (a display area having a storage capacity of at least the stereoscopic image forming surface VS) allocated to a predetermined area of ​​the storage unit 701c. The content image drawn therein is then read out in synchronization with the display timing of the display unit 113 (image display unit), and the virtual object VOB is superimposed on the specific object in the foreground 300 (see Figure 2) and displayed on the display unit 113 (image display unit).

[0084] Next, Example 2 will be described. In Figure 4(b), the control unit 701, after the display distance adjustment unit 701a performs the basic processing operation shown in Figure 2 to change the position of the virtual object VOB from the first relative position "A" (see Figure 5) to the second relative position "B" (see Figure 5) and draws it on the display area which is the stereoscopic image forming plane VS, acquires distance information (remaining distance) to a specific target (here, an intersection) at a predetermined real-space position in front of the vehicle 1 based on GPS information and map information acquired from the navigation device 121 via the information acquisition unit 119 (step ST31).

[0085] Next, the display distance adjustment unit 701a compares the acquired distance information with a predetermined distance threshold set in the storage unit 701c beforehand (step ST32). Here, the predetermined distance threshold is, for example, 30 [m], which is the timing when the turn signal (not shown) is activated before an intersection. If the acquired distance information is less than the predetermined threshold (step ST32 "YES"), the display distance adjustment unit 701a controls the position of the virtual object VOB to gradually change from the second relative position "B" on the far side to the first relative position "A" on the near side, for example, as shown in Figure 5 (moving from point p2 where the field of view of the driver, who is the viewer 4 shown by the dotted line, overlaps with the second relative position "B" on the far side of line C, toward point p1 where the dotted line intersects with the first relative position "A") (step ST33).

[0086] In other words, by fixing the lower end of the virtual object VOB (the first end PD on the near side from the driver's perspective) and gradually moving the upper end (the second end PU on the far side from the driver's perspective) further away, for example, when decelerating to change lanes at an intersection, the display distance of the virtual object VOB can be gradually returned (gradually changed), maintaining a constant sense of superimposition with a specific object, and more naturally suppressing the sense of incongruity that arises between the driver's sense of distance and the display.

[0087] In step ST33, when gradually changing the position of the virtual object VOB from the second relative position "B" (see Figure 5) to the first relative position "A" (see Figure 5), control may be performed to gradually change it according to the passage of time, or to gradually change it based on the remaining distance to the intersection (step ST330). Also, although not shown in Figure 4(b), after the display distance adjustment unit 701a has changed the display distance as described above, the display control unit 701b draws a content image showing a specific object in the foreground of the vehicle 1, including the virtual object VOB generated by the image generation unit 112, into a VRAM area (a display area having a storage capacity of at least the stereoscopic image forming surface VS) allocated to a predetermined area of ​​the storage unit 701c. The content image drawn therein is read out in synchronization with the display timing of the display unit 113 (image display unit), and the virtual object VOB is superimposed on the specific object in the foreground 300 (see Figure 2) and displayed on the display unit 113 (image display unit).

[0088] (Effects of the embodiment) As described above, the display control device 700 of this embodiment includes, for example, a display unit 113 that displays a stereoscopic image, and a relay optical system 116 that directs the display lights K1 and K2 of the stereoscopic image towards a projection member (windshield 2) provided on the vehicle 1. The display control device 700 controls a head-up display device 100 that causes a viewer 4 riding in the vehicle 1 to perceive the virtual object VOB of the stereoscopic image as if it were located in a predetermined real-space position (foreground 300) in front of the vehicle 1. The display control device 700 acquires at least the position information and vehicle speed information of the vehicle 1 from the vehicle 1, and controls the position of the virtual object VOB, which is arranged continuously or intermittently from the first end on the near side (see PD in Figure 2) to the second end on the far side (see PU in Figure 2) along the road surface 6 on which the vehicle 1 travels, based on the position information so that it is positioned at a first relative position (see "A" in Figure 2) with respect to a predetermined real space position. Furthermore, if the vehicle speed information exceeds a preset first speed threshold (for example, 70 km / h), the control unit 701 controls the position of the virtual object VOB to a second relative position (see "B" in Figure 2) such that at least the second end PU is visible to the viewer 4 at a greater distance than the first relative position "A".

[0089] According to the display control device 700 of this embodiment, the control unit 701 acquires, for example, vehicle position information and vehicle speed information of the vehicle 1 via the ECU 120, and controls the position of the virtual object VOB, which is arranged continuously or intermittently from the first end on the near side (for example, PD shown in Figure 2) to the second end on the far side (for example, PU shown in Figure 2) along the road surface 6, based on the position information, so that it is positioned at a first relative position "A" with respect to a predetermined real space position. Furthermore, when the vehicle speed information exceeds a preset first speed threshold (for example, 70 km / h), the control unit 701 performs control (arrow a) to adjust the position of the virtual object VOB within the field of view (angle of view) of the driver, who is the viewer 4 shown in Figure 5, to a second relative position "B" such that at least the second end (PU) is visible to the viewer 4 at a greater distance than the first relative position "A". In other words, by controlling the display to increase the display distance during high-speed driving compared to normal (low-speed) driving (resulting in the display appearing further away from the viewer 4), the driver's field of vision narrows during high-speed driving, which suppresses the feeling that the virtual object VOB is closer than its actual display distance. Therefore, the driver's sense of distance can be matched with the display, thereby suppressing the feeling of incongruity with the display during high-speed driving and providing a display control device 700 that can transmit appropriate distance information in line with the driver's sense of distance.

[0090] Furthermore, in the display control device 700 of this embodiment, when the vehicle speed information falls below a preset second speed threshold (for example, the same as or lower than 70 km / h), the control unit 701 performs control to quickly return the position of the virtual object VOB from the second relative position "B" to the first relative position "A" (moving in the direction of arrow b), as shown in Figure 5. In other words, by performing control to return to the display distance during normal low-speed driving other than high-speed driving (as a result, it appears closer to the viewer 4), the feeling that the virtual object VOB is farther away than its actual display distance is suppressed, and therefore, the distance interval of the viewer 4 (the driver) and the display can be matched. This makes it possible to provide a display control device 700 that can suppress the feeling of discomfort that the viewer 4 (the driver) feels regarding the display even when not driving at high speed, and can transmit appropriate distance information in line with the driver's sense of distance.

[0091] Furthermore, in the display control device 700 of this embodiment, when the vehicle speed information falls below a third speed threshold which is lower than a preset first speed threshold, the control unit 701 controls the position of the virtual object VOB to a third relative position (not shown) which is closer to the viewer 4 than the first relative position "A", as shown in Figure 5 (arrow c). In other words, by controlling the virtual object VOB to be shorter than the normal display distance when not driving at high speeds, the feeling that the virtual object VOB is farther away than its actual display distance is suppressed, and therefore the distance interval of the viewer 4 (driver) and the display can be matched. As a result, the display control device 700 can be provided that suppresses the feeling of discomfort with the display when not driving at high speeds and can transmit appropriate distance information in line with the viewer 4 (driver)'s sense of distance.

[0092] Furthermore, in the display control device 700 of this embodiment, the control unit 701 controls the position of the first end PD shown in Figure 2 to be the same as the first relative position "A" and the second relative position "B" or a third relative position that is perceived as being closer to the viewer 4 than the second relative position "B". In this way, when changing the display distance, the discomfort of feeling that a distant part is close can be resolved by fixing one side (the first end PD) and changing the other side (the second end PU), for example, as shown by line C in Figure 5, thereby eliminating the mismatch between the viewer 4 (the driver)'s sense of distance and the display. As a result, a display control device 700 can be provided that can transmit appropriate distance information in line with the viewer 4 (the driver)'s sense of distance.

[0093] Furthermore, in the display control device 700 of this embodiment, the control unit 701 controls the position of the first end PD at a third relative position (not shown) that is closer to the viewer's line of sight, so that it is visible to the viewer 4 closer than the position of the first end PD at the first relative position "A", and controls the position of the second end PU to be the same as the position of the first end PD at the first relative position "A". In other words, for example, as shown in Figure 5, only the first end PD is adjusted to a position closer to the viewer 4, who is the driver, and the second end PU remains at the first relative position "A" that is closer to the viewer's line of sight, thus eliminating the mismatch between the viewer 4's sense of distance and the display, and as a result, a display control device 700 that can transmit appropriate distance information in line with the viewer 4's sense of distance can be provided.

[0094] Furthermore, in the display control device 700 of this embodiment, when the control unit 701 adjusts the position of the virtual object VOB to the second relative position "B", and determines that the vehicle speed information is in a predetermined deceleration trend, it controls the position of the virtual object VOB to gradually change from the second relative position "B" to the first relative position "A". Here, the "deceleration trend" is indicated by the deceleration, which is the rate of change of velocity per unit time (time derivative of velocity). For example, the deceleration trend when the speed falls below 70 km / h is set to 1.5 m / s^2, which is the maximum deceleration when the throttle is OFF.

[0095] According to the display control device 700 of this embodiment, when the position of the virtual object VOB is adjusted to the second relative position "B", if it is determined that the deceleration is, for example, 1.5 m / s^2, the position of the virtual object VOB is controlled to gradually change from the second relative position "B" on the far side to the first relative position "A" on the near side, as shown in Figure 5 (from point p2 on line C where the field of view of the driver, who is the viewer 4 shown by the dotted line, overlaps with the second relative position "B" on the far side, to point p1 where the dotted line intersects with the first relative position "A"). By moving it in the direction indicated by arrow b', in other words, by fixing the lower end of the virtual object VOB (the first end PD on the near side from the driver's perspective) and gradually moving the upper end (the second end PU on the far side from the driver's perspective) towards the distance, for example, when decelerating to change course at an intersection, the display distance of the virtual object VOB can be gradually returned to a constant level, maintaining a consistent sense of superimposition with a specific object, and more naturally suppressing the sense of incongruity between the driver's (viewer 4) sense of distance and the display.

[0096] Furthermore, in the display control device 700 of this embodiment, the control unit 701 acquires distance information to a specific object at a predetermined real-space position in front of the vehicle 1 (for example, the remaining distance to an intersection), and when the position of the virtual object VOB is adjusted to the second relative position B, if it is determined that the acquired distance information has fallen below a predetermined distance threshold, such as less than 30 [m], which is the timing for activating the turn signal before an intersection, the control unit 701 performs control to gradually change the position of the virtual object VOB from the second relative position "B" to the first relative position "A" (gradually moving it in the direction indicated by arrow b'). Therefore, for example, when deceleration is required when changing lanes at an intersection, the display distance changes, and the resulting sense of incongruity between the driver's (viewer 4) perception of distance and the display can be suppressed more naturally.

[0097] The head-up display device 100 of this embodiment includes, for example, a display unit 113 that displays a stereoscopic image, and a relay optical system 116 that directs the display lights K1 and K2 of the stereoscopic image towards a projection member 2 provided on the vehicle 1, as shown in Figure 1. The head-up display device 100 allows a viewer 4 riding in the vehicle 1 to perceive the virtual object VOB of the stereoscopic image as being located at a predetermined real-space position in front of the vehicle 1. The head-up display device 100 includes an image storage unit (a portion of the storage area of ​​the storage unit 701c) for storing stereoscopic images, and a control unit 701 that acquires at least the position information and speed information of the vehicle 1 from the vehicle 1, and controls the position of a virtual object VOB that is arranged continuously or intermittently from a first end PD (see Figure 2) on the near side to a second end PU (see Figure 2) on the far side along the road surface 6 on which the vehicle 1 travels, so as to be localized at a first relative position "A" (see Figure 5) with respect to a predetermined real space position, and further controls the position of the virtual object VOB to a second relative position "B" (see Figure 5) when the speed information exceeds a preset first speed threshold (for example, 70 km / h), such that at least the second end PU (see Figure 2) is visible to the viewer 4 at a distance greater than the first relative position "A" (see Figure 5).

[0098] According to the head-up display device 100 of this embodiment, the control unit 701 acquires vehicle position information and vehicle speed information, and controls the position of a virtual object VOB that is continuously or intermittently arranged along the road surface 6 from a first end on the near side (for example, PD shown in Figure 2) to a second end on the far side (for example, PU shown in Figure 2) based on the position information so that it is positioned at a first relative position "A" (see Figure 5) with respect to a predetermined real space position. Furthermore, if the vehicle speed information exceeds a preset first speed threshold (for example, 70 km / h), the control unit 701 performs control (arrow a) to adjust the position of the virtual object VOB within the field of view (angle of view) of the driver, who is the viewer 4 shown in Figure 5, to a second relative position "B" such that at least the second end PU is visible further away from the viewer 4 than the first relative position "A". In other words, by controlling the display to increase the display distance during high-speed driving compared to normal (low-speed) driving (resulting in the display appearing further away from the viewer 4), the narrowing of the viewer 4's field of vision during high-speed driving, which causes the virtual object VOB to appear closer than its actual display distance, is suppressed. Therefore, the driver's (viewer 4's) sense of distance can be matched with the display, thereby suppressing the feeling of incongruity with the display during high-speed driving and providing a head-up display device 100 that can transmit appropriate distance information in line with the driver's (viewer 4's) sense of distance.

[0099] The display control method of this embodiment, as shown in Figure 1 for example, includes a display unit 113 that displays a stereoscopic image and a relay optical system 116 that directs the display lights K1 and K2 of the stereoscopic image towards a projection member 2 provided on the vehicle 1, and controls a head-up display device 100 that makes the virtual object VOB of the stereoscopic image appear to a viewer 4 riding in the vehicle 1 as if it were located at a predetermined real-space position (such as an intersection) in front of the vehicle 1. The display control method includes, for example, the steps of acquiring at least the position information and vehicle speed information of the vehicle 1 from the vehicle 1 (ST11), as shown in Figure 3; controlling the position of a virtual object VOB, which is arranged continuously or intermittently from a first end PD (see Figure 2) on the near side to a second end PU (see Figure 2) on the far side along the road surface 6 on which the vehicle 1 travels, based on the position information so that it is positioned at a first relative position "A" (see Figure 5) with respect to a predetermined real space position (ST12); and, if the vehicle speed information exceeds a preset first speed threshold (for example, 70 km / h), controlling the position of the virtual object VOB to a second relative position "B" (see Figure 5) such that at least the second end PU is visible to the viewer 4 at a greater distance than the first relative position "A" (ST13 "YES", ST14).

[0100] According to the display control method of this embodiment, the display control device 700 first acquires the position information and vehicle speed information of the vehicle 1, then controls the position of the virtual object VOB, which is arranged continuously or intermittently from the first end on the near side (for example, PD shown in Figure 2) to the second end on the far side (for example, PU shown in Figure 2) along the road surface 6, based on the position information so that it is positioned at a first relative position "A" (see Figure 5) with respect to a predetermined real space position, and then, when the vehicle speed information exceeds a preset first speed threshold (for example, 70 km / h), it performs control (arrow a) to adjust the position of the virtual object VOB within the field of view (angle of view) of the driver, who is the viewer 4 shown in Figure 5, to a second relative position "B" (see Figure 5) such that at least the second end PU is visible to the viewer 4 at a greater distance than the first relative position "A". In other words, the display control device 700 controls the display distance to be greater than the normal (low-speed) distance during high-speed driving (resulting in the display appearing further away from the viewer 4), thereby suppressing the feeling that the virtual object VOB is closer than its actual display distance when the viewer 4 (the driver) has a narrower field of vision during high-speed driving. Therefore, the display can be matched with the viewer 4 (the driver), thereby suppressing the feeling of incongruity with the display during high-speed driving and providing a display control method that can transmit appropriate distance information in line with the viewer 4 (the driver).

[0101] The program of this embodiment is, for example, as shown in the figure, a program (display control program) for a display control device 700 that controls a head-up display device 100 which includes a display unit 113 that displays a stereoscopic image and a relay optical system 116 that directs the display lights K1 and K2 of the stereoscopic image to a projection member 2 provided on the vehicle 1, causing a viewer 4 riding in the vehicle 1 to perceive the virtual object VOB of the stereoscopic image as being located at a predetermined real-space position (such as an intersection) in front of the vehicle 1. The program then causes the processor of the display control device 700 to execute, for example, as shown in Figure 3, a process to acquire at least the position information and vehicle speed information of the vehicle 1 from the vehicle 1 (step ST11); a process to control the position of the virtual object VOB, which is arranged continuously or intermittently from the first end PD (see Figure 2) on the near side to the second end PU (see Figure 2) on the far side along the road surface 6 on which the vehicle 1 travels, based on the position information so that it is positioned at a first relative position "A" (see Figure 5) with respect to a predetermined real space position (step ST12); and a process to control the position of the virtual object VOB to adjust it to a second relative position B (see Figure 5) such that at least the second end PU is visible to the viewer 4 at a distance greater than the first relative position "A" (step ST13 "YES", step ST14) when the vehicle speed information exceeds a preset first speed threshold (70 km / h).

[0102] According to the program of this embodiment, for example, the processor built into the display control device 700 sequentially reads and executes a program recorded in the built-in memory to first acquire the position information and vehicle speed information of the vehicle 1, then controls the position of the virtual object VOB, which is arranged continuously or intermittently along the road surface 6 from the first end on the near side (for example, PD shown in Figure 2) to the second end on the far side (for example, PU shown in Figure 2), based on the position information so that it is positioned at a first relative position "A" (see Figure 5) with respect to a predetermined real space position, and then, when the vehicle speed information exceeds a preset first speed threshold (for example, 70 km / h), it performs control (arrow a) to adjust the position of the virtual object VOB within the field of view (angle of view) of the driver, who is the viewer as shown in Figure 5, to a second relative position "B" (see Figure 5) such that at least the second end PU (see Figure 2) is visible to the viewer 4 at a distance greater than the first relative position "A" (see Figure 5). In other words, by controlling the display distance to be greater than the normal (low-speed) distance during high-speed driving (resulting in the display appearing further away from the viewer 4), the driver's field of vision narrows during high-speed driving, which suppresses the perception that the virtual object VOB is closer than its actual display distance. Therefore, the driver's (viewer 4) sense of distance can be matched with the display, thereby suppressing the feeling of incongruity with the display during high-speed driving and providing a program that can transmit appropriate distance information in line with the driver's (viewer 4) sense of distance.

[0103] The vehicle display system 3 of this embodiment is a vehicle display system 3 that includes, for example, as shown in Figure 1, a head-up display device 100 equipped with a display unit 113 that displays stereoscopic images, and a relay optical system 116 that directs display lights K1 and K2 of the stereoscopic images towards a projection member 2 provided on the vehicle 1, a display control device 700 that controls the system to make the virtual object VOB of the stereoscopic image appear to a viewer 4 riding in the vehicle 1 as if it were located at a predetermined real-space position in front of the vehicle 1, and an electronic control unit (ECU 120). The vehicle display system 3 then controls the display control device 700 to acquire at least vehicle position information and vehicle speed information of the vehicle 1 via an electronic control unit (ECU 120), and to position the virtual object VOB, which is arranged continuously or intermittently from the first end PD (see Figure 2) on the near side to the second end PU (see Figure 2) on the far side along the road surface 6 on which the vehicle 1 is traveling, at a first relative position A (see Figure 5) with respect to a predetermined real-space position, based on the position information. Furthermore, if the vehicle speed information exceeds a preset first speed threshold (for example, 70 km / h), the system adjusts the position of the virtual object VOB to a second relative position B (see Figure 5) such that at least the second end PU is visible to the viewer 4 at a greater distance than the first relative position A, and controls the display of the drawn virtual object VOB on the head-up display device 100.

[0104] According to the vehicle display system 3 of this embodiment, the display control device 700 acquires vehicle position information and vehicle speed information of the vehicle 1 via an electronic control unit (ECU 120), and controls the position of a virtual object VOB that is continuously or intermittently arranged along the road surface 6 on which the vehicle 1 travels, from a first end PD (see Figure 2) on the near side to a second end PU (see Figure 2) on the far side, based on the position information, so that it is positioned at a first relative position A (see Figure 5) with respect to a predetermined real-space position. Furthermore, when the vehicle speed information exceeds a preset first speed threshold (for example, 70 km / h), the device performs control (arrow a) to adjust the position of the virtual object VOB within the field of view (angle of view) of the driver, who is the viewer 4 shown in Figure 5, to a second relative position "B" (see Figure 5) such that at least the second end PU is visible to the viewer 4 at a greater distance than the first relative position "A". In other words, by controlling the display distance to increase during high-speed driving compared to normal (low-speed) driving (resulting in the display appearing further away from the viewer 4), the driver's field of vision narrows during high-speed driving, suppressing the perception that the virtual object VOB is closer than its actual display distance. Therefore, the driver's (viewer 4) sense of distance can be matched with the display, thereby suppressing the feeling of incongruity with the display during high-speed driving and providing a vehicle display system 3 that can transmit appropriate distance information in line with the driver's (viewer 4) sense of distance.

[0105] The present invention is not limited to the exemplary embodiments described above, and those skilled in the art will be able to easily modify the exemplary embodiments described above to the extent included in the claims. [Explanation of Symbols]

[0106] 1...Vehicle, 2...Windshield (projection target), 3...Vehicle display system, 4...Viewer, 5...Dashboard, 6...Road surface, 43...Eye detection camera, 45...Surrounding imaging camera, 46...Image processing unit, 47...Distance measuring unit, 48...Object type / size detection unit, 100...Head-up display device (HUD device), 111...Stereoscopic display device, 112...Image generation unit, 113...Display unit (image display unit), 113a...Image display surface, 114...Light separation unit, 116...Relay optical system, 117...Curved mirror, 11 8...Light emission window, 119...Information acquisition unit, 120...ECU (Electronic Control Unit), 121...Navigation device, 123...Communication unit, 125...Radar unit, 300...Foreground, 600...Foreground superimposed area, 700...Display control device, 701...Control unit, 701a...Display distance adjustment unit, 701b...Display control unit, 701c...Storage unit, VOB...Virtual object, VS...Stereoscopic image forming surface (display area), K1, K2...Display light, PD...First end, PU...Second end, A...First relative position, B...Second relative position

Claims

1. A vehicle display control device that controls a head-up display device comprising a display unit for displaying stereoscopic images and a relay optical system for directing the display light of the stereoscopic images to a projection member provided on the vehicle, wherein the virtual objects of the stereoscopic images appear to a viewer riding in the vehicle as if they were located at a predetermined real-space position in front of the vehicle, At least the vehicle's location information and vehicle speed information are obtained from the vehicle. The position of the virtual object, which is arranged continuously or intermittently from a first end on the near side to a second end on the far side so as to follow the road surface on which the vehicle travels, is controlled based on the position information so that it is positioned at a first relative position with respect to a predetermined real-space position. Furthermore, the display control device includes a control unit that performs control to adjust the position of the virtual object to a second relative position such that at least the second end is visible to the viewer at a greater distance than the first relative position when the vehicle speed information exceeds a preset first speed threshold.

2. The control unit, The display control device according to claim 1, wherein when the vehicle speed information falls below a second speed threshold that is equal to or lower than a preset first speed threshold, the position of the virtual object is changed from the second relative position to the first relative position.

3. The control unit, The display control device according to claim 1, wherein when the vehicle speed information falls below a third speed threshold that is lower than a preset first speed threshold, the control is performed to adjust the position of the virtual object to a third relative position that is closer to the viewer than the first relative position.

4. The control unit, The display control device according to any one of claims 1 to 3, which controls the position of the first end to be the same as the first relative position, the second relative position, or the third relative position which is closer to the viewer than the second relative position.

5. The control unit, The display control device according to claim 4, wherein, at the third relative position, the position of the first end is controlled to appear closer to the viewer than the position of the first end at the first relative position, and the position of the second end is controlled to be the same as the position of the first end at the first relative position.

6. The control unit, The display control device according to claim 1, wherein when the position of the virtual object is adjusted to the second relative position, and it is determined that the vehicle speed information is in a predetermined deceleration trend, the control device performs a control to gradually change the position of the virtual object from the second relative position to the first relative position.

7. The control unit, The display control device according to claim 1, wherein distance information to a specific object at a predetermined real-space position in front of the vehicle is acquired, and when it is determined that the distance information has fallen below a predetermined distance threshold after adjusting the position of the virtual object to the second relative position, control is performed to gradually change the position of the virtual object from the second relative position to the first relative position.

8. A head-up display device comprising a display unit for displaying stereoscopic images and a relay optical system for directing the display light of the stereoscopic images towards a projection member provided on the vehicle, wherein the virtual objects of the stereoscopic images appear to a viewer riding in the vehicle as if they were located at a predetermined real-space position in front of the vehicle, An image storage unit for storing the stereoscopic images, A head-up display device comprising: a control unit that acquires at least vehicle position information and vehicle speed information from the vehicle, controls the position of the virtual object which is arranged continuously or intermittently from a first end on the near side to a second end on the far side so as to follow the road surface on which the vehicle travels, based on the position information so as to be localized at a first relative position with respect to a predetermined real space position, and further controls the position of the virtual object to adjust to a second relative position such that at least the second end is visible to the viewer at a greater distance than the first relative position when the vehicle speed information exceeds a preset first speed threshold.

9. A display control method for controlling a head-up display device comprising a display unit for displaying stereoscopic images and a relay optical system for directing the display light of the stereoscopic images towards a projection member provided on the vehicle, wherein the virtual objects of the stereoscopic images appear to a viewer riding in the vehicle as if they were located at a predetermined real-space position in front of the vehicle, The steps include obtaining at least the vehicle's location information and vehicle speed information from the vehicle, The steps include controlling the position of the virtual object, which is arranged continuously or intermittently from a first end on the near side to a second end on the far side so as to follow the road surface on which the vehicle travels, based on the position information, so that it is positioned at a first relative position with respect to a predetermined real space position, A display control method comprising the step of performing control to adjust the position of the virtual object to a second relative position such that at least the second end is visible to the viewer at a greater distance than the first relative position when the vehicle speed information exceeds a preset first speed threshold.

10. A program for a display control device that controls a head-up display device comprising a display unit for displaying stereoscopic images and a relay optical system for directing the display light of the stereoscopic images to a projection member provided on the vehicle, wherein the virtual objects of the stereoscopic images appear to a viewer riding in the vehicle as if they were located at a predetermined real-space position in front of the vehicle, The processor of the aforementioned display control device, A process for obtaining at least the vehicle's location information and vehicle speed information from the vehicle, A process for controlling the position of the virtual object, which is arranged continuously or intermittently from a first end on the near side to a second end on the far side so as to follow the road surface on which the vehicle travels, based on the position information, so as to be positioned at a first relative position with respect to a predetermined real space position, A program that performs a process to control the position of the virtual object to a second relative position such that at least the second end is visible to the viewer at a greater distance than the first relative position, when the vehicle speed information exceeds a preset first speed threshold.

11. A vehicle display system comprising: a head-up display device comprising a display unit for displaying stereoscopic images; a relay optical system for directing the display light of the stereoscopic images towards a projection member provided on the vehicle; a display control device that controls the system to cause a viewer riding in the vehicle to perceive the virtual objects of the stereoscopic images as existing at a predetermined real-space position in front of the vehicle; and an electronic control unit, The aforementioned display control device is A vehicle display system that acquires at least the vehicle's position information and vehicle speed information via the electronic control unit, controls the position of the virtual object, which is arranged continuously or intermittently from a first end on the near side to a second end on the far side so as to follow the road surface on which the vehicle travels, based on the position information so as to be localized at a first relative position with respect to a predetermined real space position, and further controls the position of the virtual object to a second relative position such that at least the second end is visible to the viewer at a greater distance than the first relative position when the vehicle speed information exceeds a preset first speed threshold, and displays the drawn virtual object on the head-up display device.

Images