Head-up display device, display control device, and vehicle display system

Abstract

An HUD device (100), which is a head-up display device, is provided with: an image display unit (120) that displays a first virtual image indicating a movement path of a vehicle, and a second virtual image in which a display position varies along the first virtual image, and in which the first virtual image and the second virtual image are displayed; when the vehicle approaches the place where the travel route is changed, the direction of the travel route of the vehicle is indicated; and a control unit (110) that, when the vehicle enters a location at which the travel route is changed, performs control for moving and displaying the second virtual image in the direction opposite to the direction of the travel route indicated by the second virtual image. According to the present invention, it is possible for a driver, which is a visual observer, to accurately and intuitively visually observe a route change location such as an intersection.

Description

Technical Field

[0001] The present invention relates to a head-up display device, a display control device and a vehicle display system for a mobile body such as a vehicle, which enables a virtual display object (virtual image) to be visually observed by overlapping the foreground of the mobile body. Background Art

[0002] A head-up display device (hereinafter referred to as a HUD device) is known in the prior art, which can improve the expressiveness in the depth direction (the front and rear direction of the vehicle) by using a virtual display object (virtual image) (the visual observer can feel the depth through the inclined imaging surface (display area)), and intuitively present information to the visual observer. The HUD device forms an augmented reality (AR) in which a virtual image is arranged at a predetermined position in the depth or up, down, left, and right directions in the foreground (the real scene in the forward direction observed by the visual observer of the vehicle), and the virtual image is added to the real scenery (foreground) such as the road surface for display.

[0003] For example, Patent Document 1 describes a navigation device that can display a destination guidance image on a HUD device (see Patent Document 1). Figure 2 The moving path of the vehicle is displayed by a guide line 20, and as the vehicle approaches the guide point, a map in the form of a bird's-eye view of the front of the vehicle is gradually enlarged and displayed. When the vehicle approaches further, the enlargement of the map is stopped, and a destination direction image showing the route of the guide point is displayed at the display part of the guide line (patent document 1). Figure 2 AR display 27 implemented by arrow marks). In addition, the so-called "map display" here refers to a display method of displaying a map and displaying the movement path of the vehicle on the map, and AR display refers to a display method of forming an augmented reality that displays navigation information on actual scenery, etc. to provide path guidance.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: International Publication No. WO2021 / 132553 Summary of the invention

[0007] Problems to be solved by the invention

[0008] However, according to the technology described in the above-mentioned patent document 1, when performing route guidance, there is a problem that it is difficult to correctly and intuitively grasp the location of right turn or left turn according to the distance from the route change location such as the intersection, and as a result, the driver as a visual observer sometimes misidentifies the route. In particular, when the vehicle enters an intersection, most of the screen is covered by an unrecognizable enlarged destination direction image (AR display realized by arrow marks), and when it is displayed overlapping with the real scene, most of the front field of view is blocked, which hinders the recognition of the front field of view.

[0009] The present invention is made to solve such technical problems, and its object is to provide a head-up display device, a display control device, and a vehicle display system that enable a driver as a visual observer to accurately and intuitively visually observe a route change point such as an intersection.

[0010] Other objects of the present invention will be apparent to those skilled in the art by referring to the following exemplary technical solutions and optimal implementations and the accompanying drawings.

[0011] Means for solving problems

[0012] In order to easily understand the outline of the present invention, the technical aspects of the present invention are exemplified below.

[0013] The first technical solution is a head-up display device, which projects and displays a virtual image overlapping with a foreground on a display area virtually set in front of a vehicle as an imaging surface, wherein the device comprises: an image display unit, which displays a first virtual image and a second virtual image, wherein the first virtual image represents the moving path of the vehicle, and the second virtual image changes its display position along the first virtual image to represent the direction of the vehicle's route when the vehicle approaches a location where the route is changed; and a control unit, which controls the second virtual image to move and display the second virtual image in a direction opposite to the direction of the route represented by the second virtual image when the vehicle enters the location where the route is changed.

[0014] Here, the "first virtual image" refers to, for example, Figure 4 As shown in (a) and (b), there is a bending point be near a route change point such as an intersection where the vehicle passes, and the route image Gu1 is composed of the part of the arrow handle (axis s) extending toward the bending point be and the part of the arrow tip (arrow ah) indicating the direction of travel of the vehicle, and is displayed overlapping with the road surface. In addition, the part of the arrow tip (arrow ah) is not essential. In addition, the "second virtual image" refers to, for example, Figure 4As shown in (a) and (b) of FIG. 1 , the display position changes along the first virtual image (route image Gu1) as the vehicle moves. When the vehicle approaches a route change point such as an intersection, the AR image Gu2 displayed stops near the bending point be of the first virtual image (route image). In addition, the AR image Gu2 is, for example, Figure 4 As shown in (b), it is composed of one or more arrow tip elements (the tip of the triangle of the arrow ah) visually observed from above the road surface near the bending point be (a route change point such as an intersection) of the route image Gu1.

[0015] In addition, "route change point" refers to a right or left turn point such as an intersection, a T-junction, or a curve that the vehicle passes through when traveling toward the destination. In addition, "the vehicle approaches the route change point" refers to a situation where the distance to the route change point reaches a threshold value, and "moving and displaying the second virtual image in a direction opposite to the route direction represented by the second virtual image" means, for example, Fig. 6A , Figure 6B As shown, when the vehicle enters an intersection, etc., the positional relationship in the front-to-back direction (longitudinal perspective) does not move, but in response to the turning of the vehicle, an animation display (sequence display) is performed, for example, of retreating (moving) in the left-right direction (lateral perspective) at a predetermined speed (position change corresponding to time) in the direction (X direction) opposite to the direction of travel of the vehicle represented by the second virtual image (arrow ah).

[0016] According to the first technical solution, when the vehicle enters a location where a route change is to be made, the control unit controls the second virtual image to move in a direction opposite to the route direction represented by the second virtual image and display it on the image display unit. Therefore, for example, when the vehicle enters an intersection, an animation display is performed in which the vehicle retreats (moves) in a direction opposite to the vehicle's direction of travel in the left-right direction (lateral viewing angle) at a predetermined speed (position change corresponding to time) in accordance with the vehicle's turn, thereby enabling the driver as a visual observer to accurately and intuitively visually observe the route change location such as the intersection.

[0017] In a second technical solution dependent on the first technical solution, the control unit may control to display the first virtual image overlapping with the road surface as the foreground, and to display the second virtual image so as to be visually observed in a vertically floating manner along the road surface.

[0018] According to the second technical solution, the control unit displays the first virtual image overlapping with the foreground, thereby realizing a display with improved affinity between the direction in which the vehicle should turn and the sense of unity with the real scene. In addition, the control unit displays the second virtual image in a manner of vertical suspension along the road surface, thereby effectively conveying the direction and location in which the vehicle should turn. The first virtual image displayed overlapping with the road surface and the second virtual image displayed in a manner of vertical suspension along the road surface act synergistically, enabling the driver as a visual observer to more accurately and intuitively visually observe intersections and other route change locations.

[0019] In a third technical solution subordinate to the first technical solution or the second technical solution, the control unit may display the second virtual image in a stagnant manner near a bending point of the first virtual image with maximum curvature at an arbitrary location where the route change is performed when the distance between the vehicle and the location where the route change is performed is within a prescribed distance range, and when the vehicle enters an arbitrary location where the route change is performed, control is performed to move and display the second virtual image in a direction opposite to the direction of the route represented by the second virtual image.

[0020] According to the third technical solution, if the distance between the vehicle and the place where the route is changed is within a prescribed distance range, the control unit causes the second virtual image to be displayed in a stationary manner near the bending point of the first virtual image, and when the vehicle enters an arbitrary place where the route is changed, the control unit causes the second virtual image to be displayed in a direction opposite to the route direction represented by the second virtual image. In this way, the vehicle is displayed in different display modes according to the distance from the place where the route is changed, and in particular, when the vehicle enters an arbitrary place where the route is changed, the second virtual image is controlled to be moved and displayed in a direction opposite to the route direction represented by the second virtual image, thereby enabling the driver as a visual observer to intuitively grasp the direction to be advanced, and further, the distance from the bending point of the first virtual image (the place where the route is changed, such as an intersection) can be intuitively and more easily recognized.

[0021] In the fourth technical scheme subordinate to the first to third technical schemes, the control unit may make the size of the second virtual image smaller than the size of the first virtual image in both the longitudinal and lateral viewing angles of the display area, and may change the size of the second virtual image for display according to the distance to any location where the travel route is changed.

[0022] According to the fourth technical solution, the control unit controls the size of the second virtual image to be smaller than the size of the first virtual image in both the longitudinal and lateral viewing angles of the display area, and changes the size of the second virtual image according to the distance to any location where the route change is performed. In this way, the control unit can cooperatively prompt the driver, who is a visual observer, of the direction of the vehicle's route by displaying the second virtual image in a smaller size than the first virtual image. As a result, the driver, who is a visual observer, can relatively perceive the distance to the route change location based on the display positions of the first virtual image and the second virtual image representing the same route change location, and can more accurately and intuitively identify the distance between the vehicle and the route change location.

[0023] A fifth technical solution is a display control device, which includes a processing device that controls a head-up display device that projects and displays a virtual image overlapping with a foreground on a display area that is virtually set in front of a vehicle as an imaging surface, wherein the processing device controls the display of a first virtual image and a second virtual image on the head-up display device, wherein the first virtual image represents a moving path of the vehicle, and the second virtual image changes its display position along the first virtual image to represent the direction of the vehicle's route when the vehicle approaches a location where a route change is to be made; and when the vehicle enters the location where the route change is to be made, the second virtual image is controlled to move in a direction opposite to the route direction represented by the second virtual image and be displayed on the head-up display device.

[0024] According to the fifth technical solution, when the vehicle enters a location where a route change is to be made, the processing device controls the second virtual image to move in a direction opposite to the route direction represented by the second virtual image and display it on the head-up display device. Therefore, for example, when the vehicle enters an intersection, an animation display is performed corresponding to the vehicle turning, for example, retreating (moving) in the left-right direction (lateral viewing angle) in a direction opposite to the vehicle's direction of travel at a predetermined speed (position change corresponding to time), thereby providing a display control device that enables a driver as a visual observer to accurately and intuitively visually observe a route change location such as an intersection.

[0025] The sixth technical solution is a vehicle display system, comprising: a head-up display device, which projects and displays a virtual image overlapping with a foreground on a display area that is virtually set in front of the vehicle as an imaging surface; and a display control device, which controls the head-up display device, wherein the display control device controls the display of a first virtual image and a second virtual image on the head-up display device, the first virtual image representing the moving path of the vehicle, and the second virtual image changes its display position along the first virtual image to represent the direction of the vehicle's route when the vehicle approaches a location where a route change is performed; when the vehicle enters the location where the route change is performed, the second virtual image is controlled to move in a direction opposite to the route direction represented by the second virtual image and be displayed on the head-up display device.

[0026] According to the sixth technical solution, when the vehicle enters a location where a route change is to be made, the display control device controls the second virtual image to move in a direction opposite to the route direction represented by the second virtual image and displays it on the head-up display device. Therefore, for example, when the vehicle enters an intersection, an animation display is performed in which the vehicle retreats (moves) in a direction opposite to the vehicle's direction of travel in the left-right direction (lateral viewing angle) at a predetermined speed (position change corresponding to time) in accordance with the vehicle's turn, thereby providing a vehicle display system that enables a driver as a visual observer to accurately and intuitively visually observe a route change location such as an intersection.

[0027] Those skilled in the art will readily appreciate that the technical solutions of the present invention described above may be further modified without departing from the spirit of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a diagram illustrating an example of application of the head-up display device according to the embodiment of the present invention to a vehicle and is cited for explaining the relationship between the eye position of the driver and an imaging plane (display area) virtually set in front of the vehicle.

[0029] Figure 2 1 is a block diagram showing a configuration of a vehicle display system including a head-up display device according to an embodiment of the present invention.

[0030] Figure 3 1 is a flowchart showing the operation of the head-up display device according to the embodiment of the present invention.

[0031] Figure 4 is a diagram showing an example of a screen configuration of a head-up display device according to an embodiment of the present invention, Figure 4 (a) shows a route image (first virtual image) and an AR image (second virtual image) displayed in a stagnant state near a bending point of the route image. Figure 4(b) shows a diagram of a route image (first virtual image) and an AR image (second virtual image) in a top view in this case.

[0032] Figure 5 This is a diagram showing an example of a screen configuration of a head-up display device according to an embodiment of the present invention, and is a diagram showing an AR image (second virtual image) moving and displayed in a direction opposite to the direction of a traveling route when a vehicle enters an intersection.

[0033] Fig. 6A The diagram shows an example of a screen configuration of a head-up display device according to an embodiment of the present invention, and shows how a route image (first virtual image) and an AR image (second virtual image) are displayed when the distance between a vehicle and a location for changing a route is within a predetermined distance range. Figure 6B This is a diagram showing another example of the screen configuration of the head-up display device according to the embodiment of the present invention, and shows how a route image (first virtual image) and an AR image (second virtual image) are displayed when a vehicle enters a route change point.

[0034] Explanation of symbols

[0035] 100: head-up display device (HUD device);

[0036] 110: Control unit;

[0037] 120: image display unit;

[0038] 121: LCD display;

[0039] 122: Relay optical system;

[0040] 200: processing device (processor);

[0041] 300: display control device;

[0042] 400: navigation device;

[0043] 401: Behavior sensor;

[0044] 402: Camera;

[0045] 403: LiADR;

[0046] 404: Eye position sensor;

[0047] 500: I / O interface;

[0048] 1000: Vehicle display system;

[0049] VA: display area;

[0050] Gu1: route image (first virtual image);

[0051] Gu2: AR image (second virtual image);

[0052] s: the position of the arrow handle in the route image;

[0053] be: the bending point of the route image;

[0054] ah: the location of the arrow tip of the route image;

[0055] Gu2v: The position of the AR image in virtual space. DETAILED DESCRIPTION

[0056] The best embodiment described below is for easy understanding of the present invention. Therefore, those skilled in the art should note that the present invention is not improperly limited to the embodiment described below (hereinafter referred to as the present embodiment).

[0057] Hereinafter, a vehicle display system 1000 including a head-up display device (hereinafter referred to as HUD device 100 unless otherwise specified) according to the present embodiment will be exemplified and described with reference to the drawings.

[0058] (Structure of Embodiment)

[0059] Figure 1 This is a diagram showing an example of application of the HUD device 100 according to the present embodiment to the vehicle 1 and is cited for explaining the relationship between the eye position of the driver and a display area as an imaging surface virtually set in front of the vehicle.

[0060] In the following description, the driver 4 who is a visual observer of the HUD device 100 sitting in the driver's seat of the vehicle 1 takes the left-right direction when facing the front of the vehicle 1 as the X-axis (the left direction is the positive direction of the X-axis), the up-down direction as the Y-axis (the up direction is the positive direction of the Y-axis), and the forward-backward direction as the Z-axis (the front direction is the positive direction of the Z-axis).

[0061] Reference Figure 1 The HUD device 100 of this embodiment is disposed in the front panel 5 of the vehicle 1, and includes a control unit 110 and an image display unit 120 (in a dotted line frame). The HUD device 100 emits display light L toward the front windshield 2 (an example of a projected component), and visually observes an image on a display area VA as an imaging surface virtually set on the front side (positive direction of the Z axis) of the front windshield 2. As a result, the driver 4 as a visual observer can visually observe an image (virtual image) that overlaps with the foreground FV as a real space that is visually observed through the front windshield 2.

[0062] The display area VA is an area of ​​a plane, a curved surface or a partial curved surface where the image generated inside the HUD device 100 is formed as a virtual image, and is also called an imaging surface. The visual observability of the display area VA itself is actually so low that it cannot be visually observed by the driver 4 or is difficult to be visually observed. In the display area VA, the angle (tilt angle θt) formed with the horizontal direction (XZ plane) with the left and right direction (X-axis direction) of the vehicle 1 as the axis and the angle formed by the line segment connecting the center of the eye movement range (the eye position of the driver 4) and the upper end of the display area VA and the line segment connecting the center of the eye movement range (the eye position of the driver 4) and the lower end of the display area VA are set as the vertical viewing angle, and the angle (vertical configuration angle θv) formed by the bisector of the vertical viewing angle and the horizontal direction (XZ plane).

[0063] In addition, the eye movement range refers to an area that is set to be the same as the area (also called the field of view) configured as the eye position (center of the eye movement range) of the driver 4 assumed in the vehicle compartment or includes most of it (for example, more than 80%). Therefore, the eye movement range refers to (1) an area in which the entire virtual image can be visually observed in the area, and no part of it can be visually observed outside the area, (2) an area in which at least a part of the virtual image can be visually observed in the area, and even a part of it cannot be visually observed outside the area, (3) an area in which at least a part of the virtual image can be visually observed at a predetermined brightness (for example, the brightness of the virtual image relative to the image visually observed at the center of the eye movement range is about 1 / 50) or more, and the entire virtual image outside the area is less than the predetermined brightness, (4) in the case of being able to display a virtual image that can be observed in stereo, at least a part of the virtual image can be observed in stereo, and even a part of the virtual image cannot be observed in stereo outside the area. That is, when the driver 4 arranges both eyes outside the eye movement range, the driver 4 cannot observe the entire virtual image or the visual observability of the virtual image is very low and it is difficult to perceive or the virtual image cannot be observed in stereo.

[0064] The image display unit 120 has a display surface for displaying an image, and includes, for example, a liquid crystal display 121 and a relay optical system 122. The liquid crystal display 121 may be a transmissive display that transmits light from a backlight source (not shown) or a projection display that projects an image (virtual image) onto a screen. In these cases, the display surface is the display surface of the transmissive display and the screen of the projection display. The liquid crystal display 121 may also be equipped with an actuator (not shown) such as a motor controlled by the control unit 110 and be rotatable.

[0065] The relay optical system 122 is disposed on the optical path of the light (display light L) of the image (virtual image) from the liquid crystal display 121 between the liquid crystal display 121 and the front windshield 2, and is composed of one or more optical components that project the display light L of the image (virtual image) from the liquid crystal display 121 onto the front windshield 2 outside the image display unit 120. The relay optical system 122 includes at least one concave mirror, but in addition, for example, it may include one or more refractive optical components such as lenses, diffractive optical components such as holograms, reflective optical components, or a combination of these.

[0066] The relay optical system 122 may be equipped with an actuator (not shown) such as a motor controlled by the control unit 110 and may be rotatable. Specifically, when the vehicle display system 1000 is stopped, the actuator may change the position or angle of the relay optical system 122 in such a manner that sunlight from the outside reaches the liquid crystal display 121 without passing through the relay optical system 122, and when the vehicle display system 1000 is started, the position or angle of the relay optical system 122 may be changed in such a manner that display light of an image from the liquid crystal display 121 is projected onto a predetermined position of the front windshield 2.

[0067] The image display unit 120 can change the angle (tilt angle θt) formed between the display area VA and the travel path of the vehicle 1 by driving the actuator.

[0068] The tilt angle θt is set to an angle such that the upper portion (the portion in the positive direction of the Y axis) of the display area VA viewed from the driver 4 is located farther from the driver 4 than the lower portion (the portion in the negative direction of the Y axis) in a manner along a horizontal plane (e.g., the road surface of the driving route of the vehicle 1). The tilt angle θt may not be 0 [degrees] (the display area VA is parallel to the road surface), but is preferably set to less than 20 [degrees] and adjusted to a preset angle (or adjusted to a preset angle range). However, the set value of the tilt angle θt can be arbitrarily changed by the driver 4.

[0069] In addition, the vertical configuration angle θv is set to an angle such that all or most of the display area VA is arranged on the lower side in the horizontal direction. The vertical configuration angle θv is typically set to be less than 5 [degrees] downward in the horizontal direction and adjusted to a preset angle (or adjusted to a preset angle range). However, the setting value of the vertical configuration angle θv can be arbitrarily changed by the driver 4.

[0070] In addition, the control unit 110 includes mapping data for establishing a correspondence between the vertical configuration angle θv of the display area VA and the driving amount of the actuator, and mapping data for establishing a correspondence between the tilt angle θt of the display area VA and the driving amount of the actuator. And, using these mapping data, the actuator can be driven respectively so as to achieve the set tilt angle θt and vertical configuration angle θv.

[0071] Figure 2 1 is a block diagram showing a structure of a vehicle display system 1000 including a HUD device 100. Figure 2 As shown, the vehicle display system 1000 includes a display control device 300 and a navigation device 400, which are connected to each other via an I / O interface 500 so as to be able to communicate with each other. The I / O interface 500 is also connected to a behavior sensor 401, a camera 402, a LiADR (Light Detection And Ranging) 403, an eye position sensor 404, and the like.

[0072] The display control device 300 includes a processing device (hereinafter referred to as a processor 200) and a HUD device 100. The processor 200 is responsible for interfacing with the navigation device 400 or various sensors 401 to 404 connected to the I / O interface 500, and can also display a first virtual image superimposed on the road surface on the HUD device 100 (see the following description). Figure 4 (a) (b) Gu1) and change the display position along the first virtual image Gu1, when the vehicle 1 enters a place where the route is changed, such as an intersection, the second virtual image (refer to Figure 4 (a) (b) Gu2) is controlled to move and display in the direction opposite to the direction of the travel route such as the intersection represented by the second virtual image Gu2. The details will be described later.

[0073] Here, the "first virtual image" refers to, for example, Figure 4 As shown in (a) and (b), there is a bending point be near the intersection or other place where the vehicle 1 passes through, and the route image Gu1 is displayed overlapping with the road surface, which is composed of the part of the arrow handle (axis s) extending toward the bending point be and the part of the arrow tip (arrow ah) indicating the direction of travel of the vehicle 1. In addition, the part of the arrow tip in the route image Gu1 (first virtual image) is not essential. In addition, the "second virtual image" refers to, for example, Figure 4As shown in (a) and (b), the display position changes along the route image Gu1 (first virtual image), and when the vehicle 1 approaches a route change point such as an intersection, an AR image Gu2 is displayed stagnantly near the bending point be of the route image Gu1 (first virtual image). In addition, the AR image Gu2 is composed of one or more arrow tip elements (arrows ah) that are visually observed in the vicinity of the bending point be of the route image Gu1 (a route change point such as an intersection) in a manner of floating above the road surface.

[0074] In addition, "route change point" refers to a right or left turn point such as an intersection, a T-junction, or a curve that the vehicle 1 passes through when traveling toward the destination. In addition, "the vehicle approaches the route change point" refers to a situation where the distance to the route change point reaches a threshold value, and "moving and displaying the second virtual image in a direction opposite to the route direction represented by the second virtual image" refers to, for example, Fig. 6A , Figure 6B As shown, when the vehicle 1 enters an intersection, etc., the positional relationship in the front-to-back direction (longitudinal perspective) does not move but corresponds to the turning of the vehicle, and an animation display (sequence display) is performed, for example, of retreating (moving) in the left-right direction (lateral perspective) at a predetermined speed (position change corresponding to time) in the direction opposite to the direction of travel of the vehicle 1 (arrow X direction) indicated by the arrow ah portion of the AR image (second virtual image).

[0075] The HUD device 100 is used Figure 1 As described above, the control unit 110 and the image display unit 120 are included, and the image display unit 120 includes a liquid crystal display 121 and a relay optical system 122 .

[0076] When the vehicle 1 enters a location such as an intersection where a route change is to be made, the control unit 110 controls the route image Gu1 (second virtual image) to move and display in the direction opposite to the route direction represented by the AR image (second virtual image). For example, when the vehicle 1 enters an intersection, an animation display is performed such as retreating (moving) in the left-right direction (lateral viewing angle) in the direction opposite to the direction of travel of the vehicle 1 at a predetermined speed (position change corresponding to time) in accordance with the turning of the vehicle 1, thereby enabling the driver as a visual observer to accurately and intuitively visually observe the route change location such as the intersection.

[0077] In addition, the control unit 110 can control the display of the route image Gu1 (first virtual image) overlapping with the road surface as the foreground, and displaying the AR image (second virtual image) so that it can be visually observed in a manner of vertically floating along the road surface. As a result, it is possible to achieve a display with improved affinity between the direction in which the vehicle 1 should turn and the real scene. In addition, the route image Gu1 (first virtual image) displayed overlapping with the road surface and the AR image Gu2 (second virtual image) displayed in a manner of vertically floating along the road surface play a synergistic role, which can enable the driver 4 as a visual observer to more accurately and intuitively visually observe the route change location such as the intersection.

[0078] In addition, when the distance between the vehicle 1 and a location where a route change is to be performed, such as an intersection, is within a prescribed distance range, the control unit 110 causes the AR image Gu2 (second virtual image) to be stagnantly displayed near a bending point be of the route image Gu1 (first virtual image) having the maximum curvature at any location where the route change is to be performed, and when the vehicle 1 enters any location where a route change is to be performed, such as an intersection, the control unit 110 controls the AR image (second virtual image) to be moved in a direction opposite to the route direction represented by the AR image Gu2 (second virtual image) and displays it. In this way, the vehicle 1 is displayed in different display modes according to the distance from the location where the route is changed. In particular, when the vehicle 1 enters any location where the route is changed, the AR image Gu2 (second virtual image) is controlled to move and display in the direction opposite to the route direction represented by the AR image Gu2 (second virtual image). As a result, the driver 4 as a visual observer can intuitively grasp the direction to go. In addition, the distance to the bending point be (route change location such as an intersection) of the route image Gu1 (first virtual image) can be intuitively and more easily understood.

[0079] In addition, the control unit 110 can control the size of the AR image (second virtual image) to be smaller than the size of the route image Gu1 (first virtual image) in both the longitudinal and lateral viewing angles of the display area VA, and can change the size of the AR image Gu2 (second virtual image) according to the distance to any location where the route is changed, such as an intersection. In this way, by displaying the AR image Gu2 (second virtual image) in a smaller size than the route image Gu1 (first virtual image), the direction of the route of the vehicle 1 can be cooperatively indicated to the driver 4 as a visual observer. As a result, the driver 4 as a visual observer can relatively perceive the distance from the route change location based on the display positions of the route image Gu1 (first virtual image) and the AR image Gu2 (second virtual image) indicating the same route change location.

[0080] In order to perform the above control, the control unit 110 includes, for example, a processor with a built-in or external memory (ROM / RAM) and a graphic controller that draws the route image Gu1 (first virtual image) and AR image Gu2 (second virtual image) generated by the processor 200 in a VRAM (Video RAM: video memory) allocated to a specified area of ​​the RAM and displays them on the image display unit 120 according to the display timing. The processor executes the above functions by executing the program recorded in the ROM. In addition, at least part of the above functions can also be implemented by hardware such as FPGA (Field Programmable Gate Array) or logic circuits without relying on the processor.

[0081] The image display unit 120 is controlled by the control unit 110. For example, Figure 4 As shown in (a) and (b) of FIG. 1 , a route image Gu1 is displayed overlapping the road surface and is composed of a portion of an arrow handle (axis s) extending toward the bending point be and an arrow tip (arrow ah) indicating the direction of travel of the vehicle 1, and a route image Gu1 is displayed having a bending point be near a route change point such as an intersection through which the vehicle 1 passes, and for example, Figure 4 As shown in (a)(b), the display position of the route image Gu1 (first virtual image) changes along with the movement of the vehicle 1. When the vehicle 1 approaches a route change location such as an intersection, the AR image Gu2 (second virtual image) is displayed stagnantly near the bending point be of the route image Gu1 (first virtual image).

[0082] Here, the AR image Gu2 will be supplementally described. The AR image Gu2 (second virtual image) displayed on the HUD device 100 of the present embodiment is a second virtual image that represents the field of view FV (see FIG. 1 ) of the HUD device 100 of the present embodiment. Figure 1 ) is a mark of the direction of the route of the vehicle 1 displayed along with the route image Gu1, and the mark is composed only of one or more arrow tips (arrow ah) positioned vertically and displayed on the road surface at the route change location such as an intersection. Moreover, the direction of travel of the vehicle 1 is displayed relatively small when the vehicle 1 is far away from the route change location, and is displayed relatively large when the vehicle 1 is close to the route change location. Compared with the AR image expressed by the usual arrow image, since there is no need for the arrow handle (axis s), the display area occupied in the viewing angle of the HUD device 100 is reduced, thereby improving visual observability without obstructing the forward field of view.

[0083] return Figure 2The navigation device 400 uses the behavior sensor 401 described later or a built-in GPS (Global Positioning System) or other global satellite navigation system (GNSS: Global Navigation Satellite System) or gyro sensor to obtain map data based on built-in map data or through wireless communication with the outside of the vehicle, and performs information processing such as surrounding facility guidance or route guidance for the vehicle 1. Then, based on the results of the information processing, for example, when it is detected that the vehicle 1 is approaching an intersection where it should turn, a signal urging the display output based on the results of these information processing is transmitted to the display control device 300 (HUD device 100) via the I / O interface 500 at an appropriate timing.

[0084] As described above, the navigation device 400 has map data. The map data can, for example, obtain the latest map data and store it by communicating with an external center (not shown) via a V2X (Vehicle to X) type communication system (not shown). Here, the map data is mapping data that is digitized in a manner that represents the driving environment of the vehicle 1. As mapping data, digital data of a high-precision dynamic map is particularly preferred. In addition, a dynamic map refers to a digital map that combines huge dynamic information that changes all the time, such as traffic rules or engineering information, accidents or traffic jams, pedestrians or signal information, and static information such as high-precision three-dimensional position information (road surface information, lane information, three-dimensional structures).

[0085] The behavior sensor 401 includes an IMU (Inertial Measurement Unit) vehicle speed sensor for detecting the behavior of the vehicle 1 or a steering sensor for detecting the steering angle of the steering wheel. In addition, the IMU can use a three-axis acceleration sensor and a three-axis angular velocity sensor (gyroscope sensor) to measure the driving condition or posture of the vehicle (detecting translational motion in three-axis directions based on acceleration [m / s2] and detecting rotational motion based on angular velocity [deg / s]). The information recognized or detected by the behavior sensor 401 is transmitted to the navigation device 400 or the display control device 300 (HUD device 100) via the I / O interface 500.

[0086] In addition to the above-mentioned behavior sensor 401, the vehicle display system 1000 has a camera 402, a LiDAR 403, and an eye position sensor 404 for recognizing the driving environment including the surroundings in front of the vehicle 1. The camera 402 at least captures the front view (real scene) of the vehicle 1, and the LiDAR 403 uses near-infrared light, visible light, or ultraviolet light to irradiate light, for example, to obstacles in front of the vehicle 1 captured by the camera 402, and the reflected light is captured by the optical sensor, and the distance to the obstacle is determined based on the time difference.

[0087] The eye position sensor 404 is composed of an infrared camera or the like for detecting the eye position of the driver 4. The display control device 300 (processing device 200) can obtain an image captured by the infrared camera (an example of information that can estimate the position of the eye), and identify the position of the eye of the driver 4 by analyzing the captured image. In addition, the processing device 200 can also obtain information on the position of the eye of the driver 4 identified from the image captured by the infrared camera from the I / O interface 500. In addition, the method of obtaining the position of the eye of the driver 4 of the vehicle 1 or obtaining information that can estimate the position of the eye of the driver 4 is not limited to this, and can be obtained using a known eye position detection (estimation) technology.

[0088] The I / O interface 500 communicates with other components (reference numerals 400 to 404) in addition to the display control device 300 via an ECU (not shown) provided in the vehicle 1, for example, in accordance with the CAN (Controller Area Network) standard (also referred to as CAN communication). In addition, the communication standard adopted by the I / O interface 500 is not limited to CAN, and includes, as an in-vehicle communication (internal communication) interface, a wired communication interface such as CAN FD (CAN with Flexible Data Rate), LIN (Local Interconnect Network), Ethernet (registered trademark), MOST (Media Oriented Systems Transport), UART (Universal Asynchronous Receiver Transmitter), or USB (Universal Serial Bus), or a short-range wireless communication interface within several tens of meters such as a personal area network (PAN) such as a Bluetooth (registered trademark) network, a local area network (LAN) such as an 802.11x Wi-Fi (registered trademark) network.

[0089] In addition, the I / O interface 500 can also be based on wireless wide area network (WWAN0, IEEE802.16-2004 (WiMAX: Worldwide Interoperability for Microwave Access)), based on IEEE802.16e (Mobile WiMAX: Worldwide Interoperability for Microwave Access), 4G, 4G-LTE, LTE Advanced (Advanced Long Term Evolution Technology), 5G and other cellular communication standards including wide area communication networks (for example, Internet communication networks) and other vehicle communication (external communication) interfaces.

[0090] (Operation of Implementation Method)

[0091] Figure 3 : is a flowchart showing the operation of the HUD device 100 according to this embodiment. Figure 4 1 is a diagram showing an example of a screen configuration of the HUD device 100 according to the present embodiment. Figure 4 (a) shows a route image (first virtual image) and an AR image (second virtual image) displayed in a stagnant state near a bending point of the route image. Figure 4 (b) shows a diagram of a route image (first virtual image) and an AR image (second virtual image) when viewed from above. Figure 5 This is a diagram showing an example of the screen configuration of the HUD device 100 according to the present embodiment, and is a diagram showing an AR image (second virtual image) moving and displayed in a direction opposite to the direction of the travel route when the vehicle 1 enters an intersection as viewed from above.

[0092] Below, while referring to Figure 3 to Figure 5 Detailed explanation Figure 2 The operation of the vehicle display system 1000 shown is mainly the operation of the HUD device 100 of the present embodiment.

[0093] First, the navigation device 400 displays a map including the current position of the vehicle 1 on the image display unit 120 (liquid crystal display 121) of the HUD device 100 via the display control device 300. In addition, a guidance route to a set destination can be displayed on the map, and an image showing the direction of route change can be displayed near the route change point according to the guidance route, and an enlarged map near the intersection can be displayed on the screen for route guidance.

[0094] The HUD device 100 (control unit 110) monitors whether the navigation device 400 retrieves the guidance route (step ST101). If the guidance route is retrieved (step ST101 "Yes"), a map with a specified scale (default set scale) is displayed in a top view on the image display unit 120 (step ST102). Next, when the vehicle 1 moves along the guidance route determined by the navigation device 400 and approaches a route change point such as an intersection, the control unit 110 compares the remaining distance to the intersection with the display switching threshold A (step ST103). Here, "display switching threshold A" refers to the value indicating that the display is switched from a map display with a specified scale to, for example, Figure 4 As shown in (a) and (b), the remaining distance when the enlarged route image Gu1 (first virtual image) is displayed near the route change point is, for example, a point 500 m before the route change point such as a preset intersection.

[0095] As the vehicle 1 moves, when the remaining distance to the route change point such as an intersection reaches or falls below the display switching threshold value A (step ST103 "Yes"), the control unit 110 enlarges the scale of the map displayed on the image display unit 120, and displays the route change point such as the intersection and the surrounding area on the image display unit 120. Figure 1 At the same time, control is performed to display the route image Gu1 (first virtual image) superimposed on the road surface (step ST104). The route image Gu1 (first virtual image) displayed at this time is as follows: Figure 4 As shown in (a)(b), it is composed of a portion of an arrow handle (axis s) having a bending point be near the point where the route of the vehicle 1 is changed, extending toward the bending point be, and a portion of an arrow tip (arrow ah) indicating the direction of travel of the vehicle 1, which passes through the bending point be and is connected to the terminal end (above the screen) of the arrow handle (axis s), and is displayed overlapping with the road surface.

[0096] In addition, in step ST103, when the remaining distance to the route change location such as an intersection is greater than the display switching threshold A (step ST103 "No"), the control unit 110 repeatedly executes the processing of step ST102 until the remaining distance to the route change location such as an intersection reaches the display switching threshold A.

[0097] Next, the control unit 110 compares the remaining distance to the route change location such as an intersection with the display switching threshold B (step ST105). Here, the display switching threshold B refers to the threshold when the vehicle 1 further approaches the route change location such as an intersection, for example, within a specified distance range such as 300m. With the further movement of the vehicle 1, when the remaining distance to the route change location such as an intersection is below the display switching threshold B (step ST105 "yes"), the control unit 110 controls the AR image Gu2 (second virtual image) to be displayed stagnantly near the route image Gu1 (first virtual image) (step ST106). In step ST106, the display position of the AR image Gu2 (second virtual image) changes along the outer edge of the route image Gu1 (first virtual image). When the vehicle 1 approaches the route change location such as an intersection (close to within the specified distance range), for example, Figure 4 As shown in (a)(b), the image of the route image Gu1 is displayed stagnantly near the bending point be. In addition, the vicinity of the bending point be of the route image Gu1 is determined by the viewing angle of the HUD device 100 and cannot be uniquely defined, but for example, it is a distance of 30 meters from the current position of the vehicle 1 to the front of the bending point.

[0098] On the other hand, when the remaining distance to the intersection reaches the display switching threshold B (step ST105 "No"), the vehicle 1 enters the route change point such as the intersection (step ST107 "Yes"), for example, Figure 5 As shown in FIG. 1 , the control unit 110 causes the AR image Gu2 (second virtual image) to retreat, in other words, causes the AR image Gu2 (second virtual image) to move in a direction opposite to the direction of the travel route indicated by the arrow tip (arrow ah) of the AR image Gu2 (second virtual image) and displays it (step ST108). Specifically, for example, Figure 6B As shown, when the vehicle 1 enters a route change location such as an intersection, the control unit 110 does not move the positional relationship in the front-to-back direction (longitudinal perspective), but responds to the turn of the vehicle 1 by performing an animation display (sequence display) of retreating (moving) in the left-right direction (horizontal perspective) at a predetermined speed (position change corresponding to time) in the direction opposite to the travel direction of the vehicle 1 represented by the AR image Gu2 (second virtual image) (direction of arrow X).

[0099] In addition, whether the vehicle 1 enters a route change point such as an intersection can be determined based on the position information of the vehicle 1 measured by the GPS built into the navigation device 400 and the map information. In addition, in step ST107, if the vehicle is determined to have not entered the intersection (step ST107 "No"), the control unit 110 returns to the processing after step ST105.

[0100] In addition, in the processing of step ST108, the control unit 110 can change the speed of the movement of the AR image Gu2 (second virtual image) in accordance with the driving speed of the vehicle 1. In addition, the route image Gu1 (first virtual image) displayed overlapping with the road surface can be moved in a manner that the driver 4 as a visual observer can perceive as being linked to its driving conditions (controlling the display speed or accelerating and decelerating the movement of the route image Gu1 (first virtual image)) in accordance with the driving conditions of the vehicle 1 at the intersection (entering the intersection, turning operation for changing the route, deceleration for turning, acceleration accompanying the end of the turning operation, etc.), and at this time, the AR image Gu2 (second virtual image) and the route image Gu1 (first virtual image) are moved while maintaining the positional relationship. Through these controls, the display of the AR image Gu2 (second virtual image) can achieve the movement of following the driving conditions of the vehicle 1 at the route change location such as the intersection, so that the driver 4 as a visual observer can more accurately and more intuitively visually observe the route change location such as the intersection.

[0101] In addition, the control unit 110 can display the AR image Gu2 in a manner such as by a graphic expression of a simulated arrow indicating the left and right directions (lateral viewing angle), or a partial expression consisting of several graphics, and at least a part of it can be flashed and displayed on the image display unit 120. In addition, the number of the tip parts of the triangle at the position of the arrow tip (arrow ah) of the AR image Gu2 (second virtual image) can be increased or decreased according to the distance between the vehicle 1 and the route change point such as an intersection, and the size can be gradually increased. Furthermore, at least one of the brightness, contrast, and transparency can be attenuated.

[0102] exist Fig. 6A , Figure 6B , an example of the screen structure of the HUD device 100 according to the present embodiment is shown. Fig. 6A An example of the display method of the route image Gu1 (first virtual image) and the AR image Gu2 (second virtual image) when the distance to the location where the route change is to be made is within a predetermined distance range, in (a), the vehicle 1 is shown approaching an intersection, and in (b), the display method relative to the image display unit 120 at this time is shown. In addition, Figure 6B An example of the display method of the route image Gu1 (first virtual image) and the AR image Gu2 (second virtual image) when the vehicle 1 enters the intersection is shown in (a), and the display method relative to the image display unit 120 at this time is shown in (b). Fig. 6A , Figure 6BIn (a), R represents a road near an intersection, CR represents a vehicle 1, and a rectangular area Gu2v surrounded by a dotted line represents a position of an AR image Gu2 (a second virtual image) in a virtual space.

[0103] like Fig. 6A As shown in (a) of FIG. 1 , in a situation where the vehicle 1 approaches a route change point such as an intersection ( Figure 3 In step ST105 "Yes" display switching threshold B below), as Fig. 6A As shown in (b), the AR image Gu2 (second virtual image) is displayed in a manner of being stationary near the route image Gu1 (first virtual image). In addition, the vicinity of the bending point be of the route image Gu1 (first virtual image) refers to a distance that cannot be uniquely defined because it depends on the viewing angle of the HUD device 100, but is, for example, a distance from the current position of the vehicle 1 to 30 meters before the bending point. When the vehicle 1 further approaches a route change location such as an intersection and the remaining distance is within a specified distance range, control is performed to display the route image Gu1 (first virtual image) and the AR image Gu2 (second virtual image) on the image display unit 120 while maintaining the positional relationship between them. In other words, the control unit 110 fixes the position Gu2v of the AR arrow in the virtual space, and displays the AR image Gu2 (second virtual image) by changing the viewpoint in the virtual space according to the position, direction (posture), etc. of the vehicle 1.

[0104] On the other hand, Figure 6B As shown in (a) of FIG. 1 , when vehicle 1 (CR) enters a route change point such as an intersection, as shown in FIG. Figure 6B As shown in (b), an animation display (sequence display) of retreating (moving) in the left-right direction (horizontal perspective) at a preset speed (position change corresponding to time) in response to the turning of the vehicle 1 without moving the positional relationship in the front-back direction (vertical perspective) in the direction opposite to the direction of travel of the vehicle 1 (arrow X direction) indicated by the part of the arrow tip (arrow ah) of the AR image Gu2 (second virtual image) is performed. In addition, when the vehicle 1 (CR) further turns, the position Gu2v in the virtual space of the AR image Gu2 indicated by the dotted rectangle moves to Figure 6B The device further moves in the direction of arrow X shown in (a).

[0105] Thus, when the vehicle 1 (CR) enters a location such as an intersection where a route change is to be made, the control unit 110 displays on the image display unit 120, for example, a direction (position change corresponding to time) in the left-right direction (lateral viewing angle) opposite to the direction of travel of the vehicle 1 (CR) at a predetermined speed (position change corresponding to time). Figure 6BBy controlling the animation of retreating (moving) in the (a) and (b) X directions), the driver as a visual observer can accurately and intuitively visually observe the route change point.

[0106] (Variation Example)

[0107] According to the above-mentioned vehicle display system 1000, it is described that the HUD device 100 (control unit 110) controls the AR image Gu2 (second virtual image) to move in the direction opposite to the direction of the route shown by the AR image Gu2 (second virtual image) and displays it on the image display unit 120 when the vehicle 1 enters the location where the route is changed. In contrast, the HUD device 100 can be regarded as only a display device, and the display control device 300 ( Figure 2 When the vehicle 1 enters a location where the route is to be changed, the processing device 200 of the display control device 300 controls the AR image Gu2 (second virtual image) to move in a direction opposite to the route direction represented by the AR image Gu2 (second virtual image) and displays it on the HUD device 100 (image display unit 120). That is, the processing device 200 of the display control device 300 can independently perform the above series of controls. In this case, the processing burden of the HUD device 100 (control unit 110) can be reduced.

[0108] (Effects of Embodiments)

[0109] As described above, the head-up display device of this embodiment is, for example, Figure 1 As shown in FIG. 1 , a head-up display device (HUD device 100) is shown that projects and displays a virtual image V overlapping with a foreground on a display area VA that is virtually set in front of a vehicle 1 as an imaging surface. Figure 2 As shown, it has: an image display unit 120, which displays a first virtual image (refer to Figure 4 (a) (b) route image Gu1) and the second virtual image (reference Figure 4 The first virtual image represents the moving path of the vehicle 1, and the second virtual image changes its display position along the first virtual image to represent the direction of the route of the vehicle 1 when the vehicle 1 approaches the location where the route is changed; and the control unit 110 causes the second virtual image to move in a direction opposite to the direction of the route represented by the second virtual image when the vehicle 1 enters the location where the route is changed (refer to Fig. 6A , Figure 6B Arrow X) moves and displays the control.

[0110] According to the HUD device 100 of the present embodiment, when the vehicle 1 enters a location where a route change is to be performed, the control unit 110 controls the AR image Gu2 (second virtual image) to move in a direction opposite to the route direction represented by the AR image Gu2 (second virtual image) and display it on the image display unit 120. Therefore, for example, when the vehicle 1 enters an intersection, etc., an animation display of retreating (moving) in the left and right direction (lateral perspective) in a direction opposite to the direction of travel of the vehicle 1 at a predetermined speed (position change corresponding to time) is performed in accordance with the turning of the vehicle 1. This enables the driver as a visual observer to accurately and intuitively visually observe the route change location such as the intersection.

[0111] In addition, in the HUD device 100 of the present embodiment, the control unit 110 may be, for example, Figure 4 As shown in (a) and (b) of FIG. 1 , the route image Gu1 (first virtual image) is displayed superimposed on the road surface as the foreground, and the AR image Gu1 (second virtual image) is displayed so as to be visually observed in a vertically floating manner along the road surface.

[0112] According to the HUD device 100 of the present embodiment, the control unit 110 displays the route image Gu1 (first virtual image) overlapping with the foreground, thereby realizing a display with improved affinity between the direction in which the vehicle 1 should turn and the real scene. In addition, the control unit 110 displays the AR image Gu2 (second virtual image) in a manner of vertical suspension along the road surface, thereby effectively conveying the direction and location in which the vehicle should turn. The route image Gu1 (first virtual image) displayed overlapping with the road surface and the AR image (second virtual image) displayed in a manner of vertical suspension along the road surface work synergistically, enabling the driver as a visual observer to more accurately and intuitively visually observe intersections and other route change locations.

[0113] In addition, in the HUD device 100 of the present embodiment, the control unit 110 may be, for example, Figure 3 As shown, when the distance between the vehicle 1 and the location where the route change is performed is within the prescribed distance range (step ST105 "Yes"), for example, Figure 5 As shown, the AR image Gu2 (second virtual image) is displayed stagnantly near the bending point be of the route image Gu1 (first virtual image) having the maximum curvature at any location where the route is changed (step ST106). When the vehicle 1 enters any location where the route is changed (step ST107 "yes"), the AR image Gu2 (second virtual image) is controlled to move in a direction opposite to the direction of the route represented by the AR image Gu2 (second virtual image) and display it (step ST108).

[0114] According to the HUD device 100 of this embodiment, if the distance between the vehicle 1 and the location where the route change is performed is within a prescribed distance range, the control unit 110 causes the AR image Gu2 (second virtual image) to be displayed stagnantly near the bending point be of the route image Gu1 (first virtual image), and when entering any location where the route change is performed, the control unit 110 causes the AR image Gu2 (second virtual image) to move and display in a direction opposite to the route direction represented by the AR image Gu2 (second virtual image). In this way, the vehicle 1 is displayed in different display modes according to the distance to the place where the route is changed. In particular, when the vehicle 1 enters any place where the route is changed, the AR image Gu2 (second virtual image) is controlled to move and display in the direction opposite to the route direction represented by the AR image Gu2 (second virtual image). As a result, the driver as a visual observer can intuitively grasp the direction to go. In addition, the distance to the bending point (route change place such as an intersection) of the route image Gu1 (first virtual image) can be intuitively and more easily understood.

[0115] In addition, in the HUD device 100 of the present embodiment, the control unit 110 can make the size of the AR image Gu2 (second) virtual image smaller than the size of the route image Gu1 (first virtual image) in both the longitudinal and lateral viewing angles of the display area VA, and can control the display of the AR image Gu2 (second virtual image) by changing the size of the AR image Gu2 (second virtual image) according to the distance to any location where the travel route is changed.

[0116] According to the HUD device 100 of the present embodiment, the control unit 110 controls the size of the AR image Gu2 (second virtual image) to be smaller than the size of the route image Gu1 (first virtual image) in both the longitudinal and lateral viewing angles of the display area VA, and changes the size of the AR image Gu2 (second virtual image) according to the distance to any location where the route change is performed. In this way, the control unit 110 can cooperatively prompt the driver, who is a visual observer, of the route direction of the vehicle 1 by displaying the AR image Gu2 (second virtual image) in a smaller size than the route image Gu1 (first virtual image). As a result, the driver, who is a visual observer, can relatively perceive the distance to the route change location based on the display positions of the route image Gu1 (first virtual image) and the AR image Gu2 (second virtual image) indicating the same route change location, and can more accurately and intuitively recognize the distance between the vehicle 1 and the route change location.

[0117] In addition, the display control device of this embodiment is, for example, Figure 1 , Figure 21, a display control device 300 is shown, which includes a processing device 200, and controls a head-up display device (HUD device 100) to project and display a virtual image V superimposed on a foreground on a display area VA as an imaging surface virtually set in front of a vehicle 1. Furthermore, the processing device 200 performs display of a first virtual image (for example, referring to Figure 4 (a) (b) The route image Gu1 shown in FIG. 1 and the second virtual image (for example, referring to FIG. 1 ). Figure 4 The first virtual image represents the moving path of the vehicle 1; the second virtual image changes its display position along the first virtual image, and represents the route direction of the vehicle 1 when the vehicle 1 approaches a location where the route is changed; when the vehicle 1 enters the location where the route is changed, the second virtual image (AR image Gu2) is controlled to move in a direction opposite to the route direction represented by the second virtual image and be displayed on the head-up display device (HUD device 100).

[0118] According to the display control device 300 of the present embodiment, when the vehicle 1 enters a location where a route change is to be performed, the processing device 200 controls the second virtual image (AR image Gu2) to move in a direction opposite to the route direction represented by the second virtual image and display it on the HUD device 100. Therefore, for example, when the vehicle 1 enters an intersection, an animation display is performed corresponding to the turning of the vehicle 1, for example, retreating (moving) in the left-right direction (lateral viewing angle) in a direction opposite to the direction of travel of the vehicle at a predetermined speed (position change corresponding to time), thereby providing a display control device 300 that enables a driver as a visual observer to accurately and intuitively visually observe a route change location such as an intersection.

[0119] In addition, the vehicle display system of this embodiment, for example, Figure 1 , Figure 2 As shown, a vehicle display system 1000 includes: a head-up display device (HUD device 100) that projects and displays a virtual image V overlapping with a foreground on a display area VA that is virtually set in front of a vehicle 1 as an imaging surface; and a display control device 300 that controls the head-up display device. The display control device 300 controls the display of a first virtual image (e.g., a reference image) on the head-up display device (HUD device 100). Figure 4 (a) (b) route image Gu1) and the second virtual image (for example, refer to Figure 4The first virtual image represents the moving path of the vehicle 1, and the second virtual image changes its display position along the first virtual image, indicating the route direction of the vehicle 1 when the vehicle 1 approaches a location where the route is changed; when the vehicle 1 enters the location where the route is changed, the second virtual image (AR image Gu2) is controlled to move in a direction opposite to the route direction represented by the second virtual image and is displayed on the head-up display device (HUD device 100).

[0120] According to the vehicle display system 1000 of the present embodiment, when the vehicle 1 enters a location where a route change is to be performed, the display control device 300 controls the second virtual image (AR image Gu2) to move in a direction opposite to the route direction represented by the second virtual image and display it on the head-up display device (HUD device 100). Therefore, for example, when the vehicle 1 enters a route change location such as an intersection, an animation display is performed in which the vehicle 1 retreats (moves) in a direction opposite to the direction of travel of the vehicle 1 in the left-right direction (lateral viewing angle) at a predetermined speed (position change corresponding to time) in accordance with the turning of the vehicle 1, thereby providing a vehicle display system 1000 that enables a driver as a visual observer to accurately and intuitively visually observe a route change location such as an intersection.

[0121] The present invention is not limited to the above-described exemplary embodiments, and those skilled in the art should be able to easily modify the above-described exemplary embodiments within the scope of the claims.

Claims

1. A head-up display device that projects and displays a virtual image superimposed on a foreground on a display area virtually set in front of a vehicle as an imaging surface, characterized in that: The head-up display device has: an image display unit that displays a first virtual image and a second virtual image, wherein the first virtual image indicates a moving path of the vehicle and the second virtual image changes its display position along the first virtual image and indicates a traveling path direction of the vehicle when the vehicle approaches a location where a traveling path change is to be performed; as well as The control unit controls the second virtual image to be moved and displayed in a direction opposite to a direction of the route indicated by the second virtual image when the vehicle enters a location where the route change is to be performed.

2. The head-up display device according to claim 1, characterized in that: The control unit performs control to display the first virtual image so as to overlap with the road surface as the foreground, and to display the second virtual image so as to be visually observed in a manner of vertically floating along the road surface.

3. The head-up display device according to claim 1, characterized in that: The control unit performs control to display the second virtual image in a stagnant state near a bending point of the first virtual image having a maximum curvature at an arbitrary location where the route change is performed when the distance between the vehicle and the location where the route change is performed is within a prescribed distance range, and to move and display the second virtual image in a direction opposite to the direction of the route represented by the second virtual image when the vehicle enters the arbitrary location where the route change is performed.

4. The head-up display device according to any one of claims 1 to 3, characterized in that: The control unit performs control to make the size of the second virtual image smaller than the size of the first virtual image in both the longitudinal and lateral viewing angles of the display area, and to change the size of the second virtual image according to the distance from the arbitrary point where the travel route is changed.

5. A display control device, comprising a processing device, for controlling a head-up display device, wherein the head-up display device projects and displays a virtual image overlapping with a foreground on a display area virtually set in front of a vehicle as an imaging surface, wherein the display control device is characterized in that: The processing device controls displaying a first virtual image and a second virtual image on the head-up display device, wherein the first virtual image indicates a moving path of the vehicle, and the second virtual image changes its display position along the first virtual image to indicate a traveling route direction of the vehicle when the vehicle approaches a location where a route change is to be performed; When the vehicle enters a location where the course change is to be performed, the processing device controls the head-up display device to move the second virtual image in a direction opposite to a direction of the course indicated by the second virtual image.

6. A vehicle display system comprising: a head-up display device that projects and displays a virtual image overlapping with a foreground on a display area virtually set in front of the vehicle as an imaging surface; and a display control device that controls the head-up display device, wherein the vehicle display system is characterized in that: The display control device controls displaying a first virtual image and a second virtual image on the head-up display device, wherein the first virtual image indicates a moving path of the vehicle, and the second virtual image changes its display position along the first virtual image to indicate a traveling route direction of the vehicle when the vehicle approaches a location where a route change is to be performed; The display control device controls the head-up display device to move the second virtual image in a direction opposite to a direction of the route indicated by the second virtual image when the vehicle enters a location where the route change is to be performed.

Images