Display device

Abstract

The display device (100) includes: a control unit (120) that determines the tilt shape of a display (10), the display (10) being an image of a shape indicating a direction; and a drawing unit (130) that projects light representing the tilt shape of the display (10) determined by the control unit (120) onto a windshield (2a), thereby reflecting the light towards the user (1) inside the vehicle (2) through the windshield (2a), so that the user (1) can visually confirm the tilt shape of the display (10) through the windshield (2a) with a virtual image. The control unit (120) controls the yaw angle (ψ) and tilt angle of the display (10) based on the properties of waypoints on the path set for navigating the vehicle (2) to the destination, thereby determining the tilt shape of the display (10) indicating a direction as a navigation direction.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a display device that causes a user to visually recognize an image as a virtual image. BACKGROUND

[0002] In the past, a display device has been proposed that projects light representing an image to a plate-shaped display medium having light transmittance to cause the display medium to reflect the light, thereby causing a user to visually recognize the image as a virtual image while the user observes a background through the display medium. Such a display device is a device using so-called AR (Augmented Reality), and is capable of displaying an image associated with an actual background in the background. In particular, in the field of automobile-related fields and the like, a so-called HUD (Head-Up Display) that displays an image representing speed, various warnings, and the like as a virtual image in front of a windshield during driving has been developed (for example, refer to Patent Literature 1).

[0003] If such a display device is used, a driver as a user is able to observe a display (for example, a map, a speedometer, a navigation direction, and the like) relating to driving while observing the outside in front, without greatly moving the line of sight, and thus is able to drive more safely.

[0004] PRIOR ART DOCUMENTS

[0005] PATENT LITERATURE

[0006] Patent Literature 1: International Publication No. 2015 / 118859 SUMMARY

[0007] PROBLEMS TO BE SOLVED BY THE INVENTION

[0008] However, there is a problem that a user easily feels discomfort with a display.

[0009] Therefore, the present disclosure provides a display device capable of reducing discomfort of a user with a display.

[0010] SOLUTION TO PROBLEM

[0011] The display device according to one embodiment of the present disclosure includes a control unit that determines a tilt form of a display object that is an image indicating one direction, and a drawing unit that projects light representing the display object in the tilt form determined by the control unit to a display medium provided in a vehicle, thereby causing the light to be reflected toward a user side in the vehicle by the display medium, so that the user visually recognizes the display object in the tilt form as a virtual image through the display medium.

[0012] Furthermore, these general or specific aspects can also be implemented by system, method, integrated circuit, computer program, or computer-readable recording medium storing the computer program, or any combination of them. In addition, the recording medium can be a non-transitory recording medium.

[0013] Effects of Invention

[0014] The display device according to the present disclosure can reduce the user's sense of incongruity with the display object.

[0015] Further advantages and effects of one embodiment of the present disclosure are clear from the description and the drawings. These advantages and / or effects are provided by several embodiments and features described in the description and the drawings, but all of the advantages and / or effects do not necessarily have to be provided in order to obtain one or more of the same features. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 FIG. 1 is a diagram illustrating an example of a display device in an embodiment.

[0017] Figure 2 FIG. 2 is a diagram illustrating an example of an interior of a vehicle provided with the display device in the embodiment.

[0018] Figure 3 FIG. 3 is a block diagram illustrating a functional configuration of the display device in the embodiment.

[0019] Figure 4 FIG. 4 is a diagram illustrating an example of a display object in the embodiment.

[0020] Figure 5 FIG. 5 is a diagram illustrating a specific example of a display object overlaid on a road surface by the display device in the embodiment.

[0021] Figure 6The figure shows another specific example of a display superimposed on the road surface by means of the display device in the embodiment.

[0022] Figure 7 This is a diagram showing a comparative example of a display superimposed on the road surface by the display device in the embodiment with a conventional one.

[0023] Figure 8 This is a diagram showing a display superimposed on the road surface by the display device in the embodiment, compared with other conventional examples.

[0024] Figure 9A This is a diagram illustrating an example of yaw angle control of the display in an embodiment.

[0025] Figure 9B This is a diagram illustrating an example of a method for determining path points in an implementation.

[0026] Figure 10 This is a diagram illustrating an example of tilt angle control of the display in an embodiment.

[0027] Figure 11 This is a diagram illustrating an example of position control of the display in an embodiment.

[0028] Figure 12 This is a diagram illustrating an example of shape control of the display in an embodiment.

[0029] Figure 13 This is a diagram illustrating an example of appearance control of a display in an embodiment.

[0030] Figure 14 This is a diagram illustrating other examples of appearance control of the display in the embodiments.

[0031] Figure 15 This is a diagram illustrating an example of movement control of the display in an embodiment.

[0032] Figure 16 This is a diagram illustrating an example of height control of the display in an embodiment.

[0033] Figure 17 This is a diagram illustrating a more specific example of height control of the display in the embodiment.

[0034] Figure 18 This is a diagram illustrating other examples of display height control in the implementation method.

[0035] Figure 19 This is a diagram illustrating an example of the offset control of the yaw angle of the display in the embodiment.

[0036] Figure 20This is a flowchart illustrating the processing operations of the display device in the embodiment. Detailed Implementation

[0037] (The insights that form the basis of this disclosure)

[0038] Regarding the display device of Patent Document 1 described in the "Background Art" section, the inventors have discovered the following problems that may arise.

[0039] Patent Document 1 describes a display device for guiding vehicles. Specifically, the display device overlays arrows and other visual elements onto the road surface. This guidance display is presented in AR (Augmented Reality) format, and the displayed elements are long, carpet-like strips.

[0040] However, in such guidance displays, if the map accuracy or sensor detection accuracy used for navigation is insufficient, the displayed objects may extend beyond the driving lane. In other words, overlap or deviation may occur. Additionally, elongated objects may not be fully contained within the display area, resulting in incomplete displays. Such overlap, deviation, and incompleteness can easily create a sense of disharmony for the user. Furthermore, this disharmony may mislead the user or vehicle.

[0041] To address this problem, one aspect of the present disclosure relates to a display device comprising: a control unit that determines the tilt profile of a display object, the display object being an image of a shape indicating a direction; and a drawing unit that projects light representing the tilt profile of the display object determined by the control unit onto a display medium in a vehicle, thereby using the display medium to reflect the light toward the user side inside the vehicle, allowing the user to visually confirm the tilt profile of the display object through the display medium using a virtual image. The control unit controls the yaw and tilt angles of the display object based on the properties of waypoints on a path set for navigating the vehicle to its destination, thereby determining the tilt profile of the display object indicating the direction as a navigation direction.

[0042] Therefore, by controlling the yaw and tilt angles of the display based on waypoint attributes, it is possible to display the object like a bird or airplane guiding a vehicle to its destination. Consequently, the display can be made not a long, carpet-like strip, but a short, directional shape such as an arrow. As a result, while allowing the user to properly understand the navigation direction through one direction of the display, overlap or omissions in the display are reduced, thereby alleviating the user's sense of disorientation caused by such overlap or omissions.

[0043] Alternatively, the control unit may also control the lateral position of the visually confirmed display in the transverse direction of the vehicle based on the direction from the vehicle toward the waypoint.

[0044] This reduces overlap and deviation. Additionally, for example, the lateral position of the display can be controlled so that the direction from the vehicle toward the display is closer to the vehicle's direction of travel than the direction from the vehicle toward the waypoint. With such control, even when the display is shown within a predetermined range in the lateral direction, it is possible to reduce the likelihood of the display attaching to the boundary of that range or suddenly moving from that boundary.

[0045] Alternatively, the control unit may limit the lateral position of the display so that the display can be visually confirmed within a predetermined range in the lateral width direction of the vehicle.

[0046] Therefore, it is possible to suppress the display of missing objects or the inability to see the display.

[0047] Alternatively, the control unit may also control the position of the waypoint based on the vehicle's speed.

[0048] Therefore, the display can show the user the appropriate navigation direction corresponding to the driving speed. For example, when the vehicle is traveling at a high speed, the display indicates the navigation direction towards a distant waypoint, thus allowing the user time to prepare for a right or left turn when the vehicle is about to make one at an intersection ahead. Conversely, when the vehicle is traveling at a low speed, the display indicates the navigation direction towards a nearby waypoint, thus preventing the display from indicating a right or left turn when an intersection is located slightly ahead of the target intersection.

[0049] Alternatively, in controlling the location of the waypoint, the control unit determines a first location on the path based on the vehicle's speed. If there is a range between the vehicle's current location and the first location where the absolute value of the rate of change of the path direction at various locations on the path is greater than a threshold, and the difference between the path direction of a second location immediately preceding the range and the vehicle's direction of travel is outside a specified range, the control unit determines the second location as the waypoint. If the difference is within a specified range, the control unit determines the first location as the waypoint.

[0050] Therefore, in the presence of a change range, the location of either the first or second location, which lies before or after that change range and corresponds to the vehicle's direction of travel, is determined as the waypoint. This prevents the display from indicating an inappropriate navigation direction relative to the vehicle's direction of travel.

[0051] Alternatively, the control unit may also control the depth position of the visually confirmed display in the direction of travel of the vehicle based on the vehicle's speed.

[0052] This reduces overlap and deviation. Furthermore, for example, the faster the vehicle travels, the farther away the location is determined as the depth position; conversely, the slower the vehicle travels, the closer the location is determined as the depth position. Therefore, for example, when a vehicle is traveling slowly on a congested road, it is possible to suppress the display from overlapping with vehicles ahead. Additionally, drivers tend to focus on distant objects when the vehicle is traveling at high speeds and on nearby objects when the vehicle is traveling at low speeds. Therefore, it reduces the user's eye movement when observing the display, thus enabling safer driving.

[0053] Alternatively, the control unit may limit the depth of the display so that the display can be visually confirmed within a predetermined range in the vertical direction of the vehicle.

[0054] Therefore, it is possible to suppress the display of missing objects or the inability to see the display.

[0055] Alternatively, the display device may also include a first input unit, which acquires reliability information representing the reliability of the navigation, and the control unit controls the height of the visually confirmed display object above the road surface or the dynamic appearance of the display object based on the reliability information acquired by the first input unit.

[0056] For example, in situations where navigation reliability is low, overlap or deviation of the displayed objects may occur, or the direction indicated by the displayed objects may deviate from the proper navigation direction. However, in a display device according to one aspect of this disclosure, in such cases of low navigation reliability, the height of the displayed objects or the dynamic appearance of the displayed objects is controlled. In a specific example, the displayed objects are displayed at a significantly higher position or the displayed objects are made to flicker. Thus, the user's sense of disorientation caused by overlap or deviation of the aforementioned direction can be reduced.

[0057] Alternatively, the control unit may also control the height of the visually confirmed display above the road surface based on the distance from the vehicle's current position to the left or right turn point on the path.

[0058] This allows the system to appropriately communicate left and right turn locations to the user. Furthermore, by adjusting the height of the display as the vehicle approaches a turn location, moving it from a high to a low position, the system can encourage the user to slow down. In other words, it promotes safe driving.

[0059] Alternatively, the attribute of the path point can be the direction of the tangent at the path point in the path, and in determining the tilt shape of the display, the control unit controls the yaw angle of the display so that the direction is along the direction of the tangent. Alternatively, the attribute of the path point can be the position of the path point, and in determining the tilt shape of the display, the control unit controls the yaw angle of the display so that the direction is along the direction from the vehicle toward the path point.

[0060] Thus, the direction indicated by the display is either the direction of the tangent or the direction from the vehicle toward the waypoint, thereby enabling the user to know the appropriate navigation direction for directing the vehicle toward the waypoint.

[0061] Alternatively, if the navigation recommends a lane different from the lane the vehicle is currently traveling in as the recommended lane, the control unit may also assign offsets to the yaw and roll angles of the display.

[0062] Therefore, by applying an offset to make a direction indicated by the display point toward the recommended lane, the user can be prompted to drive in the recommended lane.

[0063] Alternatively, the control unit may further change the shape of the display based on the sway angle of the display.

[0064] Therefore, even when the depth of the display object is far from the vehicle, the visibility of the display object can be improved by changing its shape.

[0065] Alternatively, in determining the tilt shape of the display, the control unit may further control the pitch angle of the display based on the yaw angle of the display.

[0066] Therefore, even when the depth of the display is far from the vehicle, the visibility of the display can be improved by controlling the pitch angle of the display.

[0067] Alternatively, the control unit may also control the appearance of the display based on the distance from the vehicle's current position to a left or right turn point on the path that is further ahead in the direction of travel than the waypoint. Alternatively, the control unit may also control the appearance of the display based on the estimated arrival time from the vehicle's current position to a left or right turn point on the path that is further ahead in the direction of travel than the waypoint.

[0068] Therefore, the tilt of the display can indicate the navigation direction to the left or right turn point, and the appearance can be controlled to allow the user to properly know whether to turn left or right at the turn point. In other words, even if the navigation direction to the left or right turn point is different from the direction of the left or right turn at that turn point, the user can be properly informed of both directions simultaneously.

[0069] Alternatively, the control unit may move the display in the navigation direction if the distance from the vehicle's current position to the left or right turn point on the path is less than a threshold. Or, the control unit may move the display in the navigation direction if the estimated arrival time from the vehicle's current position to the left or right turn point on the path is less than a threshold.

[0070] This makes it easier for users to understand where to turn left or right, and also allows them to know when to turn left or right at those locations.

[0071] Alternatively, the display device may also include a second input unit, which acquires sensing information indicating the proximity of other vehicles from a sensor that detects the proximity of other vehicles relative to the vehicle, and the control unit further controls the appearance of the display based on the sensing information acquired by the second input unit.

[0072] Therefore, the appearance of the displayed object can be controlled to draw the user's attention to the approach of other vehicles. For example, when the vehicle is changing lanes, the user can be alerted to the approach of other vehicles.

[0073] Furthermore, these general or specific methods can be implemented through systems, methods, integrated circuits, computer programs, or computer-readable recording media such as CD-ROMs, or through any combination of systems, methods, integrated circuits, computer programs, and recording media. Additionally, the recording medium can be a non-transitory recording medium.

[0074] The implementation method will now be described in detail with reference to the accompanying drawings.

[0075] Furthermore, the embodiments described below are all intended to illustrate general or specific examples. The numerical values, shapes, materials, structural elements, the arrangement and connection methods of structural elements, steps, and the order of steps shown in the following embodiments are examples and are not intended to limit this disclosure. Additionally, structural elements in the following embodiments that are not described in the independent claims representing the highest-level concept are described as arbitrary structural elements.

[0076] Furthermore, the figures are schematic diagrams and are not necessarily strictly representations. Also, the same reference numerals are used to label the same structural components across all figures.

[0077] (Implementation Method)

[0078] [Overall Structure]

[0079] Figure 1 This is a diagram illustrating an example of using the display device according to this embodiment.

[0080] The display device 100 in this embodiment is configured as a head-up display (HUD) and is mounted on the vehicle 2. In a specific example, the display device 100 is built into the instrument panel 2b of the vehicle 2.

[0081] Such a display device 100 projects an image light representing the display object 10 onto the windshield 2a of the vehicle 2. As a result, the image light is reflected by the windshield 2a and directed toward, for example, a user 1 who is the driver of the vehicle 2. Thus, the user 1 confirms the display object 10 through the windshield 2a with a virtual image vision. In other words, the display device 100 enables the user 1 to confirm the display object 10 with a virtual image vision. Furthermore, the act of projecting the image light is synonymous with the act of displaying the display object 10, as it enables the user 1 to confirm the display object 10 with a virtual image vision, as referred to below. Additionally, the windshield 2a is an example of a display medium. In this embodiment, the display medium is the windshield 2a, but if the vehicle 2 is equipped with an assembly, the display device 100 may also use the assembly as a display medium and project image light onto it.

[0082] The windshield 2a is a light-transmitting, plate-shaped display medium. Therefore, while the user 1 observes the road surface or other background through the windshield 2a, the display device 100 allows the user 1 to visually confirm the displayed object 10 using a virtual image. In other words, AR can display the displayed object 10 against a real background.

[0083] Additionally, display 10 is an image in the shape of an arrow pointing in a direction; in a specific example, it is a three-dimensional image like an arrow. Furthermore, this direction is the direction the tip of the arrow is pointing, hereinafter also referred to as the indicating direction. The indicating direction of display 10 is towards the direction that guides vehicle 2 towards its destination, i.e., the navigation direction.

[0084] Therefore, if such a display device 100 is used, the driver, as user 1, can observe the display object 10 without significantly shifting his gaze while observing the outside world ahead, thus enabling him to more safely grasp the navigation direction while driving.

[0085] Figure 2 This is a diagram showing an example of the interior of a vehicle 2 equipped with the display device 100 of this embodiment.

[0086] The display device 100 projects image light onto the windshield 2a while it is hidden within the dashboard 2b. For example, by projecting image light from the display device 100, the display object 10 is displayed as a virtual image within the display area d1 of the windshield 2a.

[0087] Figure 3 This is a block diagram illustrating the functional structure of the display device 100 in this embodiment.

[0088] The display device 100 includes an input unit 110, a control unit 120, and a display unit 130.

[0089] The input unit 110 obtains vehicle-related information from the navigation device 21, vehicle control device 22, and sensor 23 of the vehicle 2.

[0090] Navigation device 21 is a device used to navigate vehicle 2 to its destination using a satellite positioning system such as GPS (Global Positioning System). Such navigation device 21 outputs vehicle location information indicating the current location of vehicle 2, path information indicating the path from the current location of vehicle 2 to its destination, and vehicle orientation information indicating the direction of travel of vehicle 2 as the aforementioned vehicle-related information.

[0091] The vehicle control device 22 is configured, for example, as an ECU (Electronic Control Unit) mounted on the vehicle 2, and outputs vehicle speed information, which represents the driving speed of the vehicle 2, as the aforementioned vehicle-related information.

[0092] Sensor 23 detects people or other vehicles present in the vicinity of vehicle 2 and outputs the sensing information representing its detection results as the aforementioned vehicle association information. For example, sensor 23 can detect people or other vehicles using LiDAR (light detection and ranging).

[0093] The control unit 120 uses the vehicle-related information obtained by the input unit 110 to determine the display mode of the display object 10. Specifically, the control unit 120 includes a position processing unit 121, a tilt processing unit 122, an appearance processing unit 123, a shape processing unit 124, and a path point determination unit 125.

[0094] The path point determination unit 125 determines the path point on the path represented by the path information described above, and notifies the determined path point to the position processing unit 121 and the tilt processing unit 122.

[0095] The position processing unit 121 uses the path point determined by the path point determination unit 125 to determine the position of the display object 10 that is visually confirmed by the user 1. This position is a position in three-dimensional space, including the lateral position of the vehicle 2 in the width direction, the depth position of the vehicle 2 in the direction of travel, and the height above the road surface.

[0096] The tilt processing unit 122 uses the path point determined by the path point determination unit 125 to determine the tilt shape of the display 10. The tilt shape is determined by the yaw angle, side tilt angle and pitch angle of the display 10.

[0097] The appearance processing unit 123 determines the appearance of the display 10. In addition, the appearance of the display 10 in this embodiment refers to the color or brightness of the display 10, and also includes dynamic changes in the color or brightness.

[0098] The shape processing unit 124 determines the shape of the display 10. Furthermore, in this embodiment, the shape of the display 10 is defined by its total length or width. The total length is the length of the display 10 along the indicated direction, and the width is the length of the display 10 along a direction perpendicular to the indicated direction. The shape processing unit 124 determines the shape of the display 10 by changing the ratio of the total length to the width.

[0099] The control unit 120 outputs display mode information indicating the display mode to the drawing unit 130. The display mode includes the aforementioned position, tilt mode, appearance, and shape.

[0100] The drawing unit 130 obtains display mode information from the control unit 120 and draws the display object 10 according to the display mode information. For example, the drawing unit 130 includes a light source and an optical system to generate image light representing the display object 10 in the display mode represented by the display mode information, so that the display object 10 can be visually confirmed by the user 1 in that display mode. Then, the drawing unit 130 projects the image light onto the windshield 2a. As a result, the user 1 visually confirms the determined tilt shape, appearance, and shape of the display object 10 at the determined position. That is, regarding the tilt shape, the drawing unit 130 projects image light representing the tilt shape of the display object 10 determined by the tilt processing unit 122 of the control unit 120 onto the windshield 2a of the vehicle 2, thereby using the windshield 2a to reflect the image light toward the user 1 inside the vehicle 2, so that the user 1 can visually confirm the tilt shape of the display object 10 through the windshield 2a with a virtual image.

[0101] Figure 4 This is a diagram illustrating an example of the display 10 of this embodiment. Furthermore, Figure 4 (a) shows a top view of display 10. Figure 4 (b) shows a perspective view of display 10. Figure 4 (c) shows the position of display 10 in the direction of travel and height of vehicle 2.

[0102] like Figure 4 As shown in (a) and (b), the display 10 is flat and formed in a generally V-shape or a generally inverted V-shape. The tilt processing unit 122 of the control unit 120 controls the yaw angle ψ and the tilt angle of the display 10. The tilt shape of the display 10 is determined by the pitch angle θ.

[0103] The yaw angle ψ is the angle by which the display 10 rotates about the yaw axis along the thickness direction of the display 10. For example, when the indicating direction of the display 10 is along the travel direction of the vehicle 2, the yaw angle ψ of the display 10 is 0°.

[0104] roll angle It is the angle by which the display 10 rotates about a tilt axis centered on the indicated direction of the display 10. For example, when the display 10 is along a horizontal plane, this tilt angle of the display 10 is... It is 0°.

[0105] The pitch angle θ is the angle by which the display 10 rotates about a pitch axis that is perpendicular to both the yaw and tilt axes. For example, when the display 10 is along a horizontal plane, the pitch angle θ of the display 10 is 0°.

[0106] In addition, such as Figure 4As shown in (c), the position processing unit 121 of the control unit 120 determines, for example, the position y of the display 10 in the direction of travel of the vehicle 2 based on vehicle speed information. The position y is represented as the distance from the vehicle 2 in that direction of travel. Furthermore, the position processing unit 121 determines the position z as the height of the display 10. The position z is represented as the height above the road surface on which the vehicle 2 is traveling.

[0107] [Example of display]

[0108] Figure 5 This is a diagram showing a specific example of a display 10 superimposed on a road surface by the display device 100 of this embodiment.

[0109] For example, when vehicle 2 arrives at a T-junction, display device 100 determines the tilt shape of display object 10 so that the direction indicated by display object 10 is aligned with the navigation direction of vehicle 2. Then, display device 100 projects an image light representing the tilt shape of display object 10 onto windshield 2a, thereby allowing user 1 to visually confirm display object 10.

[0110] exist Figure 5 In the example shown, the tilt processing unit 122 of the control unit 120 determines the rightward navigation direction based on the aforementioned vehicle position information, path information, and vehicle orientation information. Then, the tilt processing unit 122 sets the yaw angle ψ of the display 10 to, for example, -90°, so that the indication direction of the display 10 follows this navigation direction. Furthermore, regarding the display 10, the tilt angle of the display 10 is determined based on the yaw angle ψ. Set it to, for example, 90°.

[0111] Such a display 10 is shown as a virtual image through the windshield 2a, and thus superimposed on the road surface at the T-junction.

[0112] Figure 6 This is a diagram showing another specific example of a display 10 superimposed on the road surface by the display device 100 in this embodiment.

[0113] The same applies when vehicle 2 is traveling on a road surface other than at intersections such as T-junctions, such as... Figure 6 As shown, the display device 100 determines the tilt shape of the display 10 so that the indicating direction of the display 10 is along the navigation direction of the vehicle 2. Then, the display device 100 displays the tilted display 10 overlappingly on the road surface.

[0114] Figure 7 This diagram shows a comparative example of a display 10 superimposed on a road surface using the display device 100 of this embodiment, compared to a conventional one. Specifically, Figure 7 (a) shows an example of a display superimposed on the road surface using a conventional display device.Figure 7 (b) shows an example of a display 10 superimposed on the road surface by a display device 100.

[0115] like Figure 7 As shown in (a), in conventional display devices, a long, carpet-like display 90 is displayed, overlapping the road surface. The long side of this display 90 is aligned with the navigation direction. Alternatively, the display 90 is arranged along a path leading to the destination. Here, if the map accuracy and positioning accuracy of the navigation device are low, errors are included in the navigation direction or path. As a result, as... Figure 7 As shown in (a), the elongated display 90 sometimes deviates from the road surface. That is, overlap and deviation are prone to occur. Therefore, the display 90 may mislead the user and may cause the user to feel uncomfortable.

[0116] On the other hand, in the display device 100 of this embodiment, such as Figure 7 As shown in (b), the arrow-shaped display 10 is displayed in a state of overlapping the road surface. Therefore, even if there are errors in the navigation direction or path, it is possible to suppress misguidance of user 1 and reduce user 1's sense of incongruity.

[0117] Figure 8 This diagram illustrates a comparison between the display 10 superimposed on the road surface by the display device 100 of this embodiment and other conventional examples. Specifically, Figure 8 (a) shows another example of a display superimposed on the road surface using a conventional display device. Figure 8 (b) shows another example of a display 10 superimposed on the road surface by a display device 100.

[0118] like Figure 8 As shown in (a), in conventional display devices, a long, carpet-like display element 90 is displayed overlapping a surface. This display element 90 is only displayed within the display area 91. Therefore, as... Figure 8 As shown in (a), when a portion of the display 90 extends beyond the display area 91, that portion is not displayed, resulting in a partially missing portion of the display 90 being displayed within the display area 91. Consequently, the display 90 may mislead the user and potentially create a sense of disharmony.

[0119] On the other hand, in the display device 100 of this embodiment, such as Figure 8 As shown in (b), the arrow-shaped display 10 is displayed overlapping the road surface. Therefore, the display 10 can be easily contained within the display area d1, thereby reducing the obstruction of the display 10. As a result, the display 10 can suppress misleading the user 1 and alleviate the user 1's sense of unease.

[0120] [Control of the display's yaw and tilt angles]

[0121] Figure 9A This diagram illustrates an example of yaw angle control of the display 10 according to this embodiment. Furthermore, Figure 9A (a) shows an example of the control of the yaw angle ψ. Figure 9A (b) shows with Figure 9A Example (a) is a different example of the control of the yaw angle ψ.

[0122] First, the path point determination unit 125 of the control unit 120 determines path points. These path points are points on the path established to navigate the vehicle 2 to its destination. The path point determination unit 125 controls the position of the path points on the path represented by the aforementioned path information based on the vehicle 2's travel speed. The specific method for determining the position of the path points will be described using... Figure 9B This will be discussed later.

[0123] Furthermore, in determining such a waypoint, the waypoint determination unit 125 can determine the waypoint non-linearly or linearly with respect to the driving speed. Additionally, when the driving speed of the vehicle 2 is used to control the display 10, the various structural elements included in the control unit 120, such as the waypoint determination unit 125, use the driving speed represented by the aforementioned vehicle speed information as the driving speed of the vehicle 2, and when measuring the distance to the vehicle 2, use the current position of the vehicle 2 represented by the aforementioned vehicle position information as the reference position for that distance.

[0124] Next, the tilt processing unit 122 controls the yaw angle ψ and the tilt angle of the display 10 based on the properties of the determined path point. This determines the tilt pattern of the display 10, which indicates the navigation direction. Specifically, the tilt processing unit 122 controls the yaw angle ψ based on the properties of the waypoints, and controls the roll angle based on the controlled yaw angle ψ.

[0125] In determining the yaw angle ψ, the tilt processing unit 122, as follows: Figure 9A As shown in examples (a) or (b), the yaw angle ψ of the display 10 is determined based on the properties of the path points. For example, as... Figure 9A As shown in (a), the attribute of a path point is the direction of the tangent at that path point in the path. Furthermore, the tilt processing unit 122 determines the direction of this tangent as the aforementioned navigation direction. This navigation direction can be a direction represented with north as a reference. In determining the tilt pattern of the display 10, the tilt processing unit 122 controls the yaw angle ψ of the display 10 so that the indicating direction of the display 10 is along the direction of the tangent, i.e., the navigation direction.

[0126] Or, such as Figure 9A As shown in (b), the attribute of a waypoint is its location. In determining the tilt profile of the display 10, the tilt processing unit 122 controls the yaw angle ψ of the display 10 so that the pointing direction of the display 10 is along the direction from the vehicle 2 toward the waypoint. Furthermore, in this case, the tilt processing unit 122 determines the navigation direction from the direction from the vehicle 2 toward the waypoint. This direction from the vehicle 2 toward the waypoint is also referred to below as the waypoint direction.

[0127] Figure 9B This diagram illustrates an example of the path point determination method of this embodiment. Furthermore, Figure 9B (a) shows an example of determining the location of the second location on the path as a waypoint. Figure 9B (b) shows an example of determining the location of the first point on the path as a waypoint.

[0128] For example, such as Figure 9B As shown in (a), vehicle 2 is traveling along a path on a gentle right turn road, and then is about to travel on a sharp left turn road. In this situation, the path point determination unit 125 first determines the position on the path corresponding to the vehicle 2's travel speed as the first location. For example, the faster the vehicle 2 travels, the longer the distance along the path from the vehicle 2 is determined by the path point determination unit 125 as the first location; conversely, the slower the vehicle 2 travels, the shorter the distance along the path from the vehicle 2 is determined by the path point determination unit 125 as the first location.

[0129] Here, assuming the tangent direction at the first point in the path, i.e., the path direction, is used as the navigation direction, the yaw angle ψ of display 10 is controlled so that the indicated direction of display 10 is to the left, since the path direction is to the left. However, when vehicle 2 is about to make a gentle right turn, if display 10 shows such a left-pointing direction, user 1 may be misled or experience a sense of incongruity. Furthermore, not only sharp turns like left turns, but also when vehicle 2 makes a left or right turn at a left or right turn point on the path, the aforementioned misleading or incongruity may occur. A left or right turn point is an intersection where a left or right turn is possible.

[0130] Therefore, the path point determination unit 125 of this embodiment does not simply use the vehicle 2's speed to determine the path point's location, but rather identifies intervals of sharp turns or left / right turns along the path, and uses these intervals to determine the path point's location. In such sharp turn intervals or intervals where the vehicle 2 turns left or right at left / right turn points, the rate of change of the path direction is large. Therefore, the path point determination unit 125 uses this rate of change of the path direction and determines the interval where the absolute value of this rate of change is greater than a threshold as the change interval. Furthermore, the rate of change of the path direction is the change in the tangential direction per unit length along the path. This unit length is, for example, 100m, and the change in the tangential direction is 45°. In other words, the change interval is an interval of sharp turns or intervals of intersections with left / right turns, and is an interval where the tangential direction changes by 45° or more within a range of 100m along the path.

[0131] Specifically, the path point determination unit 125 determines a first location on the path based on the vehicle 2's travel speed. Then, the path point determination unit 125 determines whether there exists a range between the vehicle 2's current position and the first location where the absolute value of the rate of change of the path direction at various locations on the path exceeds a threshold. If a range of changes is determined to exist, the path point determination unit 125 sets a second location on the path immediately preceding that range. Then, the path point determination unit 125 determines either the first location or the second location as the path point based on the difference between the path direction at the second location and the vehicle 2's travel direction.

[0132] For example, in such Figure 9B As shown in (a), if the difference between the path direction of the second location and the travel direction of vehicle 2 is outside a specified range, the path point determination unit 125 determines the second location as the path point. This causes the indicator direction of display 10 to be oriented to the right, thus appropriately guiding user 1 or vehicle 2 along a right turn.

[0133] On the other hand, when vehicle 2 is traveling on the right-turn road and approaches the second location, such as Figure 9B As shown in (b), the direction of travel of vehicle 2 is close to the path direction at the second location. Therefore, when the difference between the path direction at the second location and the direction of travel of vehicle 2 is within a specified range, the path point determination unit 125 determines the first location as the path point. This causes the indicator direction of display 10 to be turned left, appropriately guiding user 1 or vehicle 2 along a sharp left turn. Alternatively, it can appropriately guide user 1 or vehicle 2 towards a left turn direction at a left / right turn location. Furthermore, the aforementioned specified range is, for example, 10°.

[0134] In addition, Figure 9BThe diagram illustrates an example where a smooth turn in a path is followed by a sharp turn, right turn, or left turn in the opposite direction, but other situations are also possible. For example, even if the path turns in only one direction, the direction indicated by display 10 can be aligned correctly, thereby reducing misguidance or disharmony for user 1 or vehicle 2. Furthermore, in Figure 10 In the example shown, the path direction is the tangent direction in the path, but it can also be the direction from vehicle 2 toward the path point, i.e., the path point direction.

[0135] In this embodiment, the waypoint determination unit 125 controls the position of the waypoint based on the vehicle 2's speed. This waypoint is used to present the navigation direction via the display 10, thus allowing the display 10 to show the user 1 an appropriate navigation direction corresponding to the speed. Specifically, the waypoint determination unit 125 determines a first location on the path based on the vehicle 2's speed. Furthermore, if there exists a range from the vehicle 2's current position to the first location where the absolute value of the rate of change of the path direction at various points on the path exceeds a threshold, and the difference between the path direction at a second location immediately preceding this range and the vehicle 2's direction of travel is outside a predetermined range, the waypoint determination unit 125 determines the second location as the waypoint. Conversely, if the difference is within the predetermined range, the waypoint determination unit 125 determines the first location as the waypoint.

[0136] Therefore, in the presence of a change range, the location of either the first or second location, which is before or after the change range and corresponds to the direction of travel of vehicle 2, is determined as the waypoint. Thus, it is possible to suppress the display 10 from indicating an inappropriate navigation direction relative to the direction of travel of vehicle 2.

[0137] Figure 10 This is a diagram illustrating an example of the tilt angle control of the display 10 in this embodiment. Furthermore, Figure 10 (a) shows the state of display 10 as viewed from the yaw axis direction. Figure 10 (b) shows the state of display 10 as viewed from a direction perpendicular to the tilt axis. Figure 10 (c) shows the state of display 10 as viewed from the tilt axis direction.

[0138] The tilt processing unit 122 of the control unit 120, for example Figure 9A As shown in (a), that is, as Figure 10 As shown in the example, the yaw angle ψ of the display 10 is determined. The tilt processing unit 122, as shown... Figure 10 As shown in (b) and (c), the tilt angle is determined based on the yaw angle ψ of the display 10. Specifically, the larger the yaw angle ψ, the larger the roll angle determined by the tilt processing unit 122. For example, when the display 10 rotates counterclockwise around the yaw axis, the yaw angle ψ increases. At this time, as... Figure 9A to 10 As shown in (b), the roll angle Enlarge it so that the display 10 is tilted vertically.

[0139] In this embodiment, as shown below... Figure 9A As shown, the tilt processing unit 122 controls the yaw angle ψ and the tilt angle of the display 10 based on the attributes of the path points. This determines the tilt shape of the display 10, which indicates the navigation direction. Thus, the display 10 can be displayed like a bird or airplane guiding the vehicle 2 to its destination. Therefore, the display 10 can be short and directional, such as an arrow, instead of a long, carpet-like shape. As a result, while allowing the user 1 to properly understand the navigation direction through the direction indicated by the display 10, overlap, deviation, or omission of the display 10 can be reduced, thereby alleviating the user 1's sense of disharmony caused by overlap, deviation, or omission of the display 10. Furthermore, since the tilt angle is also controlled... Therefore, even if the display 10 exceeds the road when the vehicle 2 is driving on a curve or other road, the user 1's sense of disharmony caused by exceeding the road can be reduced.

[0140] Additionally, the tilting processing unit 122, as Figure 9A As shown in (a), the yaw angle ψ of the display 10 is controlled so that the indicating direction is along the tangential direction. Alternatively, the tilt processing unit 122 is as follows: Figure 11 As shown in (b), the yaw angle ψ of the display 10 is controlled so that the indicated direction is along the direction from the vehicle 2 toward the waypoint. Thus, the user 1 can be informed of the appropriate navigation direction for the vehicle 2 to head toward the waypoint by the indicated direction of the display 10.

[0141] [Position control of the displayed object]

[0142] Figure 11 This diagram illustrates an example of position control of the display 10 according to this embodiment. Furthermore, Figure 11 (a) shows the positional relationship between vehicle 2 and display object 10 as viewed from above vehicle 2. Figure 11 (b) shows the position of the display 10 that is visually confirmed within the display range d1 of the windshield 2a.

[0143] First, the position processing unit 121 of the control unit 120 determines the position of the path point determined by the path point determination unit 125 based on the notification from the path point determination unit 125.

[0144] Next, the position processing unit 121 of the control unit 120... Figure 11 As shown in (a), the planar position (x, y) of the display 10 is determined. The planar position (x, y) is the position of the display 10 arranged on a plane. This plane can be the road surface that the vehicle 2 is traveling on, or a cross section of the road surface. Furthermore, position y in the planar position (x, y) represents the position on the longitudinal axis, one of two mutually orthogonal axes arranged along the plane, along the direction of travel of the vehicle 2. In other words, position y is the visually confirmed depth position of the display 10 in the direction of travel of the vehicle 2. Position x in the planar position (x, y) represents the position on the transverse axis, one of two axes arranged along the plane, orthogonal to the longitudinal axis. In other words, position x is the visually confirmed lateral position of the display 10 in the transverse width direction of the vehicle 2. Hereinafter, the transverse width direction is also referred to as the transverse or transverse axis direction. Furthermore, the position processing unit 121 can also use the direction of travel represented by the vehicle orientation information described above as the direction of travel of the vehicle 2.

[0145] Specifically, the position processing unit 121 controls the position y based on the travel speed of the vehicle 2. For example, the faster the vehicle 2 travels, the farther the position processing unit 121 determines the position y from the vehicle 2; conversely, the slower the vehicle 2 travels, the closer the position processing unit 121 determines the position y to the vehicle 2. In determining the position y, the position processing unit 121 can determine the position y non-linearly or linearly with respect to the travel speed.

[0146] Regarding position x, the position processing unit 121 controls position x based on the direction from vehicle 2 toward the path point. Specifically, the position processing unit 121 determines the angle α between the path point direction from vehicle 2 toward the path point and the travel direction of vehicle 2. Next, the position processing unit 121 calculates an angle β, which is 1 / n times the angle α, and determines the direction that forms angle β with the travel direction of vehicle 2. Furthermore, the direction that forms angle β is a direction that is inclined from the travel direction toward the path point direction. Then, the position processing unit 121 determines the horizontal axis position of the point at position y among the points on the straight line along the direction that forms angle β as position x. Furthermore, n in the aforementioned 1 / n times is a real number greater than 1, for example, 3. Alternatively, the position processing unit 121 may calculate 1 / n times the distance in the horizontal axis direction from vehicle 2 to the path point, and determine the position x as the position where vehicle 2 has moved away from this 1 / n times distance in the horizontal axis direction toward the path point. Furthermore, the position processing unit 121 can also non-linearly determine the angle β or position x relative to the angle α or the distance in the horizontal axis direction from the vehicle 2 to the path point.

[0147] Furthermore, in determining the planar position (x, y) of the display object 10, the position processing unit 121 restricts the planar position (x, y) of the display object 10 to prevent the display object 10 from exceeding the display plane range d2 in the aforementioned plane. For example... Figure 12 As shown in (b), the display plane range d2 is the range corresponding to the display range d1 in the windshield 2a. The length in the travel direction of the display plane range d2 corresponds to the length in the vertical direction of the display range d1, and the length in the horizontal direction of the display plane range d2 corresponds to the length in the horizontal direction of the display range d1. As a result, it can be said that the position processing unit 121 restricts the planar position (x, y) of the display object 10 to prevent the display object 10 from exceeding the display range d1. That is, the position processing unit 121 restricts the position x of the display object 10 so that the display object 10 can be visually confirmed within a predetermined range in the horizontal direction of the vehicle 2. Furthermore, the position processing unit 121 restricts the position y of the display object 10 so that the display object 10 can be visually confirmed within a predetermined range in the vertical direction of the vehicle 2.

[0148] In this embodiment, the position processing unit 121 controls the lateral position, i.e., position x, of the display 10 based on the direction from the vehicle 2 toward the waypoint. Therefore, by adjusting n to a multiple of 1 / n, it is possible to reduce the distance the display 10 adheres to the boundary of its lateral end within the display range d1, or to reduce sudden movement from that boundary. Furthermore, the condition where the display 10 adheres to the boundary is one where the display 10 does not leave the boundary during a fixed period while the vehicle 2 is moving.

[0149] Furthermore, the position processing unit 121 restricts the lateral position of the display 10 so that the display 10 can be visually confirmed within the display range d1. This prevents the left or right portion of the display 10 from being missing or not visible.

[0150] Furthermore, the position processing unit 121 controls the depth position, i.e., position y, of the display 10 based on the vehicle 2's travel speed. For example, the slower the vehicle 2's travel speed, the closer the position to the vehicle 2 is determined as the depth position. Therefore, it is possible to prevent the display 10 from overlapping with the vehicle in front when the vehicle 2 is traveling slowly, for example, on a relatively congested road.

[0151] Furthermore, the position processing unit 121 restricts the depth position of the display object 10 so that the display object 10 can be visually confirmed within the display range d1. This prevents the upper or lower portion of the display object 10 from being missing or not being visible.

[0152] [Control of the shape or tilt angle of the displayed object]

[0153] Figure 12This is a diagram showing an example of the shape control of the display object 10 of the present embodiment.

[0154] As shown in (a) to (c) of Figure 12 , the shape processing unit 124 of the control unit 120 changes the shape of the display object 10 according to the yaw angle ψ. For example, the shape processing unit 124 changes the overall length L of the display object 10. For example, as shown in (a) of Figure 12 , when the yaw angle ψ is ψ = 0°, the overall length L is set to L = L1, and as shown in (b) of Figure 12 , when the yaw angle ψ is ψ = 45°, the overall length L is set to L = L2 (L2 < L1). Moreover, when the yaw angle ψ is ψ = 90°, the shape processing unit 124 sets the overall length L to L = L3 (L3 < L2). By changing this overall length L, the ratio of the overall length L to the width is changed, and as a result, the shape of the display object 10 is changed.

[0155] For example, when the position y of the display object 10 is far, the display object 10 is visually recognized by the user 1 from a direction closer to the horizontal direction. Therefore, in such a case, if the shape of the display object 10 is not changed, the width in the vertical direction of the display object 10 visually recognized by the user 1 within the display range d1 becomes shorter. That is, the display object 10 looks vertically compressed. As a result, it is difficult for the user 1 to grasp the indication direction of the display object 10.

[0156] Therefore, as shown in Figure 13 , the closer the yaw angle ψ is to 0°, the longer the overall length L of the display object 10 by the shape processing unit 124 in the present embodiment. Thus, even if the position y of the display object 10 is far, it is possible to suppress the width in the vertical direction of the display object 10 visually recognized by the user 1 from becoming shorter and the display object 10 from looking compressed.

[0157] Alternatively, it is also possible to suppress the display object 10 from looking compressed by controlling the pitch angle θ of the display object 10 by the tilt processing unit 122 of the control unit 120. That is, in determining the tilt state of the display object 10, the tilt processing unit 122 also controls the pitch angle θ of the display object 10 according to the yaw angle ψ of the display object 10. For example, the closer the yaw angle ψ of the display object 10 is to 0°, the larger the pitch angle θ of the display object 10 by the tilt processing unit 122. That is, the pitch angle θ is controlled so that the indication direction of the display object 10 approaches the vertical direction.

[0158] Furthermore, in the example described above, the control unit 120 controls the shape or pitch angle θ of the display 10 based on the yaw angle ψ. However, it is also possible to control the shape or pitch angle θ of the display 10 based not only on the yaw angle ψ but also on the position y. For example, the control unit 120 may control the shape or pitch angle θ of the display 10 based on the yaw angle ψ when the distance from the vehicle 2 to the position y is greater than or equal to a threshold.

[0159] In this embodiment, the control unit 120 controls the shape or pitch angle θ of the display 10 based on the yaw angle ψ of the display 10. Therefore, the visibility of the display 10 can be improved even when the display 10 is far from the vehicle 2 in its depth position (position y).

[0160] [Appearance control of the display]

[0161] Figure 13 This is a diagram illustrating an example of appearance control of the display 10 in this embodiment.

[0162] For example, such as Figure 13 As shown in (a), vehicle 2 is traveling on a left-turn road according to the path indicated by the path information, and will then turn right at a left- or right-turn point. In this case, the appearance processing unit 123 of the control unit 120 controls the appearance of the display 10 based on the distance from the current position of vehicle 2 to the left- or right-turn point on the path that is ahead of the path point in the direction of travel. For example, the appearance processing unit 123 measures the distance along the path from the current position of vehicle 2 indicated by the vehicle position information to the left- or right-turn point indicated by the path information. Moreover, if the distance to the left- or right-turn point is below a threshold, and the path information indicates a right turn at the left- or right-turn point, the appearance processing unit 123 changes the color or brightness of the right half of the display 10. In a specific example, the appearance processing unit 123 changes the color of the right half of the overall green display 10 to yellow. Alternatively, the appearance processing unit 123 changes the color of a portion of the right half of the display 10, such as the right end, to yellow. Or, it may be as follows: Figure 13 As shown in (b), the appearance processing unit 123 displays an object 10a indicating a right turn or turns the object 10a on or off around the periphery of the display 10. Furthermore, the object 10a indicates a right or left turn based on its relative position to the display 10. Additionally, the threshold for the distance to the left or right turn location can be, for example, 300m.

[0163] Therefore, by controlling the yaw angle ψ of the display 10 to make the indicating direction of the display 10 face to the left, the navigation direction for guiding the vehicle 2 to turn left can be indicated, while the user 1 can be properly informed that there is a right turn after the left turn by changing the appearance of the display 10.

[0164] Alternatively, the appearance processing unit 123 can control the appearance of the display 10 based on the estimated arrival time from the current position of the vehicle 2 to a left or right turn point on the path that is ahead of the path point in the direction of travel. For example, the appearance processing unit 123 measures the distance along the path between the current position of the vehicle 2, indicated by vehicle position information, and the left or right turn point, indicated by path information, and divides this distance by the vehicle speed of the vehicle 2, indicated by vehicle speed information, thereby calculating the estimated arrival time. Furthermore, if the estimated arrival time to the left or right turn point is below a threshold, and if the path information indicates that a right turn is to be made at that turn point, the appearance processing unit 123 changes the color or brightness of the right half of the display 10. Additionally, in Figure 14 In the example shown, a left turn is followed by a right turn, but the left and right turns can be reversed. Alternatively, a right turn or a left turn can be followed by a turn, or two turns can be made consecutively, or a right turn and a left turn can be made consecutively. Furthermore, the estimated arrival time threshold can be, for example, 10 seconds to 1 minute.

[0165] In this embodiment, the tilt of the display 10 allows the user 1 to know the navigation direction to the left or right turn location, and the appearance can be controlled to allow the user 1 to properly know whether to turn left or right at that location. That is, even if the navigation direction to the left or right turn location is different from the direction of the left or right turn at that location, the user 1 can still properly know both directions simultaneously. In other words, even if the display 10 is oriented to the left to guide the vehicle 2 to the left turn, the user 1 can still properly know that a right turn is required at the next left or right turn location.

[0166] Figure 14 This is a diagram illustrating other examples of appearance control of the display 10 in this embodiment.

[0167] For example, such as Figure 14 As shown in (a), when vehicle 2 is traveling on a road with multiple lanes, other vehicles 3 approach vehicle 2. At this time, the appearance processing unit 123 notifies user 1 of the approach of other vehicles 3 by controlling the color of the display 10.

[0168] Specifically, the input unit 110 of the display device 100 acquires sensing information indicating the proximity of other vehicles 3 relative to vehicle 2 from the sensor 23 that detects the proximity of other vehicles 3. Furthermore, this function of acquiring sensing information is part of the function of the input unit 110, and it can be said that the input unit 110 has a second input unit that implements this function.

[0169] The appearance processing unit 123 of the control unit 120 controls the appearance of the display 10 based on the sensing information acquired by the input unit 110. For example, the sensing information indicates that another vehicle 3 is approaching from the right side of vehicle 2. In this case, the appearance processing unit 123 changes the color or brightness of the right end of the display 10. In a specific example, the appearance processing unit 123 changes the color of the right end from green to red. Alternatively, the appearance processing unit 123 may make the right end bright or dim in red. Furthermore, the appearance processing unit 123 may change or dim the color of a portion of the right half of the display 10 excluding the right end, or the entire right half. Alternatively, the appearance processing unit 123 may also change the color or dim the brightness of the right half of the display 10 as follows: Figure 15 As shown in (b), an object 10a is displayed around the display 10 to draw the user 1's attention or to make the object 10a appear or disappear.

[0170] In this embodiment, the appearance control of the display 10 can prompt the user 1 to notice the approach of other vehicles 3. For example, when vehicle 2 changes lanes or enters a merging point, the user 1 can be alerted to the approach of other vehicles 3.

[0171] [Control of display object movement]

[0172] Figure 15 This is a diagram illustrating an example of the movement control of the display 10 in this embodiment.

[0173] For example, such as Figure 15 As shown in (a), vehicle 2 travels along the path indicated by the path information and is about to turn left at a left / right turn point. In this case, if the distance along the path from the current position of vehicle 2 to the left / right turn point on the path is less than a threshold, the position processing unit 121 of the control unit 120 moves the display 10 in the navigation direction. Furthermore, the movement of the display 10 in the navigation direction can also be described as the movement of the display 10 in the indicated direction. Figure 15 In example (a), the position processing unit 121 moves the display 10 to the left.

[0174] Alternatively, if the estimated arrival time from the current position of vehicle 2 to the left or right turn point on the path is below a threshold, the position processing unit 121 moves the display 10 in the navigation direction. For example, the position processing unit 121 measures the distance along the path between the current position of vehicle 2 (indicated by vehicle position information) and the left or right turn point (indicated by path information), and divides this distance by the speed of vehicle 2 (indicated by vehicle speed information) to calculate the estimated arrival time. Furthermore, if the estimated arrival time to the left or right turn point is below a threshold, the appearance processing unit 123 moves the display 10 in the navigation direction.

[0175] This makes it easier for user 1 to clearly understand whether to turn left or right at the designated turn point.

[0176] Or, it could be, such as Figure 16 As shown in (b), when the position processing unit 121 moves the display 10 in the navigation direction, it moves the display 10 not just once, but repeatedly in the navigation direction. For example, after moving the display 10 in the navigation direction, the position processing unit 121 returns the display 10 to its original position and moves the display 10 in the navigation direction again.

[0177] In this embodiment, by moving the display 10 in the navigation direction, the user 1 can more easily and clearly know the left and right turn locations, and can also know when to turn left or right at those locations.

[0178] [Control of the height or appearance of the displayed object]

[0179] Figure 17 This is a diagram illustrating an example of height control of the display 10 in this embodiment.

[0180] The position processing unit 121 of the control unit 120 controls the height, i.e., position z, of the display object 10 based on the reliability of the navigation performed by the navigation device 21.

[0181] For example, the input unit 110 of the display device 100 obtains reliability information indicating the reliability of navigation from the navigation device 21. Furthermore, this function of obtaining reliability information is part of the function of the input unit 110, and it can be said that the input unit 110 has a first input unit that implements this function.

[0182] The reliability information is generated by the navigation device 21 and may include information contained in the aforementioned vehicle-related information. Furthermore, the reliability of the navigation is comparable to the accuracy of the path set by the navigation device 21 and the accuracy of the current position and direction of travel of the vehicle 2 detected by the navigation device 21. For example, the navigation device 21 may determine the reliability of the navigation of the vehicle 2 based on factors such as the reception strength of GPS signals from satellites, and generate reliability information indicating that reliability. In a specific example, the navigation device 21 generates reliability information indicating low reliability when the GPS signal reception strength is weak, and conversely, generates reliability information indicating high reliability when the GPS signal reception strength is strong. Alternatively, the navigation device 21 may determine the reliability of the navigation based on the type of map used for the navigation of the vehicle 2, and generate reliability information indicating that reliability. For example, the navigation device 21 generates reliability information indicating higher reliability when using a high-precision map for navigation, and generates reliability information indicating lower reliability when using a regular map for navigation. In addition, the navigation device 21 switches between using a high-precision map and a regular map depending on the location where the vehicle 2 is traveling. For example, it uses a high-precision map when the vehicle 2 is traveling on a highway.

[0183] Then, the position processing unit 121 controls the height of the visually confirmed display object 10 above the road surface based on the reliability information obtained from the input unit 110. For example, the lower the reliability indicated by the reliability information, the higher the position processing unit 121 determines the height of the display object 10 as the higher position z, and vice versa.

[0184] Figure 17 This diagram illustrates a more specific example of the height control of the display 10 in this embodiment. Furthermore, Figure 17 (a) shows an example of a display 10 that has not undergone reliability-based high-level control. Figure 17 (b) shows an example of a display 10 that is subject to high reliability-based control.

[0185] For example, if the navigation reliability is low and the height of the display 10 is not controlled according to that reliability, the display 10 may... Figure 17 As shown in (a), the overlap deviates from the road surface. That is, overlap deviation occurs. Furthermore, the indicated direction of the display 10 may also deviate from the actual navigation direction. However, in this embodiment, the position processing unit 121 may experience low navigation reliability, such as... Figure 16As shown in (b), the display object 10 is displayed at a high position. Because the display object 10 is displayed at a significantly higher position than the road surface, it is less likely for the user 1 to perceive any overlap or deviation. Furthermore, any deviation in the direction indicated by the display object 10 is also less likely for the user 1 to perceive. Therefore, it is possible to suppress any sense of incongruity caused by overlap and deviation in the direction indicated by the display object 1.

[0186] In addition, Figure 17 and Figure 18 In the example shown, the height of the display 10 is controlled based on reliability information, i.e., the reliability of navigation, but other controls are also possible. For example, the appearance processing unit 123 of the control unit 120 controls the dynamic appearance of the visually confirmed display 10 based on the reliability information. For example, if the reliability indicated by the reliability information is below a threshold, the appearance processing unit 123 causes the display 10 to flicker. The period of this flickering can be, for example, 0.5 seconds. As a result, since there is a period during which the display 10 is not displayed, the sense of disharmony caused by the overlap deviation of the display 10 can be reduced. Furthermore, when the reliability is represented by a value of 0 to 1, the reliability threshold can be, for example, 0.5.

[0187] In this embodiment, the control unit 120 controls the height of the visually confirmed display 10 or the dynamic appearance of the display 10 based on reliability information. Therefore, the user's sense of disharmony caused by overlap deviation or deviation of the display 10's pointing direction can be reduced.

[0188] Figure 18 This is a diagram illustrating another example of height control of the display 10 in this embodiment.

[0189] It could also be, such as Figure 19 As shown, the position processing unit 121 of the control unit 120 controls the height of the visually confirmed display 10 above the road surface based on the distance along the path from the current position of the vehicle 2 to the left or right turn points on the path. For example, when the vehicle 2 approaches the left or right turn point and the distance to the left or right turn point becomes shorter, the position processing unit 121 lowers the height of the display 10, i.e., position z. More specifically, the shorter the distance from the vehicle 2 to the left or right turn point, the lower the height of the display 10 set by the position processing unit 121; alternatively, the position processing unit 121 lowers the height of the display 10 when the distance is below a threshold value.

[0190] Therefore, in this embodiment, it is easier for user 1 to clearly understand the left or right turn location. Furthermore, it encourages user 1 to slow down vehicle 2. In other words, it encourages user 1 to drive safely.

[0191] [Display Offset Control]

[0192] Figure 19 This shows the yaw angle ψ and tilt angle of the display 10 in this embodiment. A diagram illustrating an example of offset control.

[0193] When the navigation recommends a lane 32 that is different from the lane 31 that vehicle 2 is currently traveling in as the recommended lane, the tilt processing unit 122 of the control unit 120 adjusts the yaw angle ψ and roll angle displayed on the display 10. Assign an offset. Furthermore... Figure 19 (a) shows an example where no offset is assigned to display 10. Figure 19 (b) shows an example of giving an offset to display 10.

[0194] For example, when the route information indicates a right or left turn at a location ahead of vehicle 2, and there are multiple lanes on the road where vehicle 2 is traveling, navigation device 21 will detect the lane used for that right or left turn as a recommended lane. For example, if the route information indicates a right turn, the right lane will be detected as the recommended lane; if the route information indicates a left turn, the left lane will be detected as the recommended lane. Then, navigation device 21 will output recommended lane information indicating the recommended lane. The input unit 110 of display device 100 will acquire this recommended lane information as vehicle association information.

[0195] For example, such as Figure 19 As shown in (a), if recommended lane information is not obtained from the input unit 110, the tilt processing unit 122 does not apply an offset to the display 10. However, in cases where... Figure 19 As shown in (b), when recommended lane information is obtained from the input unit 110, the tilt processing unit 122 applies an offset to the display 10. For example, the recommended lane information indicates lane 32 as the recommended lane. Therefore, when the tilt processing unit 122 determines, based on the vehicle position information, that vehicle 2 is traveling in lane 31 and determines that the recommended lane is not lane 31 but lane 32, it applies an offset to the display 10 to make the indicated direction face towards lane 32. In a specific example of the offset, the tilt processing unit 122 applies an offset of ±2° to the yaw angle ψ of the display 10 and an offset of ±2° to the side tilt angle of the display 10. Add the angular offset corresponding to this ±2°. The result is that... Figure 20 In this example, display 10 is tilted 2° towards lane 32. Furthermore, the tilt processing unit 122 can also apply a tilt to display 10 regardless of whether the lane in which vehicle 2 is traveling is a recommended lane. Therefore, even when the lane in which vehicle 2 is traveling cannot be determined, the display 10 can still be tilted. Additionally, the tilt angle... The angle of offset can be equal to or different from the angle of offset of the yaw angle ψ.

[0196] In this embodiment, by applying an offset, the direction of the indicator 10 can be oriented towards the recommended lane, thereby prompting the user 1 to drive in the recommended lane. Furthermore, the offset can be a fixed angle or a variable angle. For example, the faster the vehicle 2 travels, the smaller the offset applied by the tilt processing unit 122, and vice versa.

[0197] [Processing Flow]

[0198] Figure 20 This is a flowchart illustrating the processing operation of the display device 100 according to an embodiment.

[0199] First, the display device 100 acquires vehicle association information from the navigation device 21, the vehicle control device 22, and the sensor 23 (step S11). Next, the display device 100 determines waypoints from the path information contained in the vehicle association information (step S12). Then, the display device 100 controls the yaw angle ψ and roll angle of the display object 10 based on the attributes of the waypoints. This determines the tilt profile of the display 10 (step S13). Furthermore, at this time, the display device 100 may also control the pitch angle θ, thereby determining the tilt profile.

[0200] Then, the display device 100 determines the position (x, y, z) of the display object 10 based on the waypoint and the current position of the vehicle 2 (step S14), determines the appearance of the display object 10 (step S15), and determines the shape of the display object 10 (step S16).

[0201] Next, the display device 100 illuminates the windshield 2a with image light representing the tilt shape, position, appearance, and shape of the display object 10 determined in steps S13 to S16 (step S17). As a result, the user 1 visually confirms the display object 10 through the windshield 2a.

[0202] Here, the display device 100 determines whether to end the display of the display object 10 (step S18). For example, if the vehicle 2 is parked, the engine of the vehicle 2 is stopped, or the display device 100 receives an instruction to stop the display, the display device 100 determines to end the display of the display object 10 ("Yes" in step S18). On the other hand, in other cases, the display device 100 determines not to end the display of the display object 10 ("No" in step S18) and repeats the process from step S11. When repeating the process of step S11, the latest vehicle association information is obtained, so the tilt mode, position, appearance, and shape of the display object 10 can be updated at any time based on the latest vehicle association information.

[0203] (Other methods)

[0204] The above description illustrates a display device according to one or more embodiments of this disclosure, but this disclosure is not limited to these embodiments. Various modifications conceived by those skilled in the art to the above embodiments may also be included in this disclosure, provided they do not depart from the spirit of the disclosure.

[0205] For example, the control unit 120 in the above embodiment includes a position processing unit 121, a tilt processing unit 122, an appearance processing unit 123, and a shape processing unit 124, but it may also omit the processing units other than the tilt processing unit 122. Furthermore, the tilt processing unit 122 controls the yaw angle ψ and the tilt angle of the display 10. And the pitch angle θ, but the pitch angle θ can also be fixed.

[0206] Furthermore, in the above embodiments, each structural element can be constructed by dedicated hardware or implemented by executing software programs suitable for each structural element. Each structural element can also be implemented by a program execution unit such as a CPU (Central Processing Unit) or processor reading and executing software programs recorded on a recording medium such as a hard disk or semiconductor memory. Here, the software program implementing the display device 100, etc., of the above embodiments causes the computer to execute, for example... ​ The flowchart shown includes the steps.

[0207] In addition, the following situations are also included in this disclosure.

[0208] (1) Specifically, the aforementioned at least one device is a computer system composed of a microprocessor, ROM (Read Only Memory), RAM (Random Access Memory), a hard disk unit, a display unit, a keyboard, a mouse, etc. A computer program is stored in the RAM or hard disk unit. The microprocessor operates according to the computer program, thereby enabling the aforementioned at least one device to perform its function. Here, the computer program is constructed by combining multiple command codes representing instructions to the computer to achieve a specified function.

[0209] (2) Alternatively, the structural elements constituting at least one of the above-described devices may be partly or entirely composed of a single system LSI (Large Scale Integration). A system LSI is a multifunctional LSI manufactured by integrating multiple structural components onto a single chip; specifically, it is configured as a computer system including a microprocessor, ROM, RAM, etc. The computer program is stored in the RAM. The microprocessor operates according to the computer program, thereby enabling the system LSI to perform its functions.

[0210] (3) Alternatively, the structural elements constituting at least one of the above-described devices may be composed of an IC card or a module that can be attached to or detached from the device. The IC card or module is a computer system composed of a microprocessor, ROM, RAM, etc. Alternatively, the IC card or module may include the aforementioned multi-functional LSI. The microprocessor operates according to a computer program, thereby enabling the IC card or module to perform its functions. Alternatively, the IC card or module may be tamper-proof.

[0211] (4) Regarding this disclosure, it can also be configured as the method shown above. In addition, it can be configured as a computer program that implements these methods by a computer, or as a digital signal composed of a computer program.

[0212] Furthermore, this disclosure can also be described as obtaining a computer program or digital signal by recording it on a computer-readable recording medium, such as a floppy disk, hard disk, CD (Compact Disc)-ROM, DVD, DVD-ROM, DVD-RAM, BD (Blu-ray Disc), semiconductor memory, etc. Alternatively, it can be described as a digital signal recorded on these recording media.

[0213] In addition, this disclosure may also be configured to transmit computer programs or digital signals via electrical communication lines, wireless or wired communication lines, networks such as the Internet, data broadcasting, etc.

[0214] Alternatively, it can be configured to transfer the program or digital signal by recording it on a recording medium, or by transferring the program or digital signal via a network or other independent computer system.

[0215] Industrial availability

[0216] The display device disclosed herein can reduce the user's sense of disharmony with the displayed object, and can be applied, for example, to head-up displays used in vehicles.

[0217] Explanation of reference numerals in the attached figures

[0218] 1: User; 2: Vehicle; 2a: Windshield; 2b: Instrument panel; 10: Display; 21: Navigation device; 22: Vehicle control device; 23: Sensor; 100: Display device; 110: Input unit; 120: Control unit; 121: Position processing unit; 122: Tilt processing unit; 123: Appearance processing unit; 124: Shape processing unit; 125: Path point determination unit; 130: Drawing unit; d1: Display range; d2: Display plane range.

Claims

1. A display device comprising: a control section that determines a tilt posture of a display object and a position of the display object to be visually recognized by a user in a vehicle, the display object being an image in the shape of an indication of one direction; and a drawing section that projects light representing the display object in the tilt posture determined by the control section onto a display medium provided in the vehicle, thereby causing the light to be reflected toward the user side by the display medium, so that the user visually recognizes the display object in the tilt posture as a virtual image through the display medium, the control section controls a yaw angle and a roll angle of the display object based on an attribute including a direction of a path at the waypoint or a position of the waypoint of a waypoint on a path set for navigation of the vehicle to a destination, thereby determining the tilt posture of the display object indicating the one direction as a navigation direction, the control section controls a longitudinal position in a direction of travel of the vehicle to a position on the path between a current position of the vehicle and a position in front of the waypoint on the path, so as to avoid the display object from exceeding a display plane range corresponding to a display range of the display object in the display medium.

2. The display device according to claim 1, wherein the control section further controls a lateral position of the display object to be visually recognized in a lateral direction of the vehicle in accordance with a direction from the vehicle toward the waypoint.

3. The display device according to claim 2, wherein the control section limits the lateral position of the display object so that the display object is visually recognized within a predetermined range in the lateral direction of the vehicle. wherein 4. The display device according to claim 1, wherein the control section further controls the position of the waypoint in accordance with a travel speed of the vehicle.

5. The display device according to claim 4, wherein in the control of the position of the waypoint, the control section determines a first site on the path in accordance with the travel speed of the vehicle, in a case where there is a change interval on the path where an absolute value of a change rate of a path direction at each site on the path is greater than a threshold value between the current position of the vehicle and a second site next to the change interval, and a difference between a path direction of the second site and the direction of travel of the vehicle is outside a prescribed range, the control section determines the second site as the position of the waypoint, in a case where the difference is within the prescribed range, the control section determines the first site as the position of the waypoint.

6. The display device according to claim 1, wherein the control section further controls a longitudinal position of the display object to be visually recognized in a direction of travel of the vehicle in accordance with a travel speed of the vehicle.

7. The display device according to claim 6, wherein the control section limits the longitudinal position of the display object so that the display object is visually recognized within a predetermined range in an up-down direction of the vehicle.

8. The display device according to claim 1, wherein ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The display device further includes a first input unit configured to acquire reliability information indicating reliability of the navigation, The control unit controls a height of the display object from a road surface or a dynamic appearance of the display object to be visually recognized, based on the reliability information acquired by the first input unit.

9. The display device according to claim 1, wherein The control unit controls a height of the display object from a road surface to be visually recognized, based on a distance from a current position of the vehicle to a location of a turn on the route.

10. The display device according to claim 1, wherein The attribute of the route point is a direction of a tangent line at the route point on the route, In the determination of the tilted form of the display object, the control unit controls a yaw angle of the display object such that the one direction is along the direction of the tangent line.

11. The display device according to claim 1, wherein The attribute of the route point is a position of the route point, In the determination of the tilted form of the display object, the control unit controls a yaw angle of the display object such that the one direction is along a direction from the vehicle toward the route point.

12. The display device according to claim 1, wherein In a case where the navigation recommends a lane different from a lane in which the vehicle is traveling as a recommended lane, the control unit further imparts an offset to a yaw angle and a roll angle of the display object.

13. The display device according to claim 1, wherein The control unit further changes the shape of the display object further in accordance with the yaw angle of the display object.

14. The display device according to claim 1, wherein In the determination of the tilted form of the display object, the control unit further controls a pitch angle of the display object in accordance with the yaw angle of the display object.

15. The display device according to claim 1, wherein The control unit further controls an appearance of the display object in accordance with a distance from a current position of the vehicle to a location of a turn on the route that is ahead of the route point in a traveling direction.

16. The display device according to claim 1, wherein The control unit further controls an appearance of the display object in accordance with an estimated time of arrival from a current position of the vehicle to a location of a turn on the route that is ahead of the route point in a traveling direction.

17. The display device according to claim 1, wherein The control unit further moves the display object in the direction of the navigation in a case where a distance from a current position of the vehicle to a location of a turn on the route is below a threshold value.

18. The display device according to claim 1, wherein The control unit further moves the display object in the direction of the navigation in a case where an estimated time of arrival from a current position of the vehicle to a location of a turn on the route is below a threshold value.

19. The display device according to any one of claims 1 to 18, wherein The display device further includes a second input unit that acquires sensing information indicating an approach of another vehicle relative to the vehicle from a sensor that detects the approach of the other vehicle relative to the vehicle, The control unit controls the appearance of the display object based on the sensing information acquired by the second input unit.

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