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

Abstract

To enable a target point to be accurately and intuitively recognized by a driver who is a viewer by controlling the display positions of a guidance image and a destination direction image.SOLUTION: Provided is a head-up display device 100 for projecting and displaying a virtual image, by superimposition on a foreground, to a display region which is an image-forming plane virtually set ahead of a vehicle. The head-up display device 100 comprises: an image display unit 120 for displaying a first virtual image for showing the destination of the vehicle and a second virtual image for showing a direction to the destination of the vehicle in association with the first virtual image; and a control unit 110 for exercising control for display on the image display unit so that the first and the second virtual images are arranged and recognized along a road surface. The control unit exercises control for displaying the second virtual image farther than the first virtual image, with the display position of the first virtual image taken as a point of reference, thereby setting a display distance difference between the display distances of the first and the second virtual images and displaying the first and the second virtual images at the respective positions of the image display unit.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a head-up display device that is used in a moving body such as a vehicle and that allows a virtual display object (virtual image) to be visually recognized by being superimposed on the foreground of the moving body. [Background technology]

[0002] Conventionally, there is known a head-up display device (hereinafter, simply referred to as HUD device) that uses a virtual display object (virtual image) to enhance expressiveness in the depth direction (front-rear direction of the vehicle) (the inclined imaging surface (display area) allows the viewer to feel depth), and allows intuitive information presentation to the viewer. This HUD device places a virtual image at a predetermined position in the depth, top, bottom, left, and right directions in the space of the foreground (the real view in the forward direction as seen by the viewer of the vehicle), and forms an augmented reality (AR) in which the virtual image is added to the real scenery (foreground) such as the road surface and displayed.

[0003] For example, Patent Document 1 describes a navigation device using a HUD device that effectively avoids increasing the burden on the driver and enables the driver to accurately and intuitively grasp points for turning right or left. According to this navigation device, the HUD device displays the vehicle's travel route as a destination guide image (guide lines 20 in FIG. 2), and as the vehicle approaches the guide point, a bird's-eye view map of the area in front of the vehicle is gradually enlarged and displayed. When the vehicle approaches further, the map enlargement is stopped and a destination direction image (27 in FIG. 2: AR display with arrow marks) showing the route at the guide point is displayed at the display location of the guide lines. Note that the "map display" here refers to a display form in which a map is displayed and the vehicle's travel route is displayed on the map, and the AR display refers to a display form in which navigation information is displayed on the actual scenery or the like to form an augmented reality for route guidance. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2021 / 132553 Summary of the Invention

[0005] However, according to the technology described in Patent Document 1 mentioned above, if a destination direction image (AR display using an arrow mark) is displayed directly above the destination guidance image; in other words, if the display distance of the destination guidance image and the display distance of the destination direction image are made the same, for example, when passing through an intersection, the destination direction image will be displayed as if it is blocking the vehicle's forward direction, which may result in the driver, who is the viewer, misunderstanding that he or she needs to turn right or left before the guidance point.

[0006] The present invention has been made to solve such problems, and aims to provide a head-up display device, a display control device, and a vehicle display system that enable the viewer, the driver, to accurately and intuitively visually recognize the target location by controlling the display position of a destination guidance image and a destination direction image.

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

[0008] In order to facilitate an understanding of the outline of the present invention, embodiments according to the present invention will be illustrated below.

[0009] A first aspect is a head-up display device that projects and displays a virtual image superimposed on a foreground on a display area, which is an imaging surface virtually set in front of a vehicle, and has an image display unit that displays a first virtual image that provides destination guidance for the vehicle and a second virtual image that indicates the destination direction of the vehicle in relation to the first virtual image, and a control unit that controls the display of the first virtual image and the second virtual image on the image display unit so that they are arranged along a road surface and are visible, and the control unit sets a display distance difference between the display distance of the first virtual image and the display distance of the second virtual image by displaying the second virtual image a predetermined distance away from the first virtual image based on the display position of the first virtual image, and controls the display of the first virtual image and the second virtual image at the corresponding positions on the image display unit, respectively.

[0010] Here, the "first virtual image" refers to a guide line or an arrow-shaped destination guide image that is visually recognized as being arranged along the road surface on which the vehicle is traveling, for example, the destination guide image Gu1 shown in Fig. 5. Also, the "second virtual image" refers to an arrow-shaped destination direction image that is visually recognized as being along the road surface and floating above the road surface, for example, the destination direction image Gu2 shown in Fig. 5. Note that the arrow shape is a mark indicating directionality, with an arrowhead attached to the end point of a line segment having a width that becomes the shaft of the arrow, and indicates a specific direction (destination direction).

[0011] The "display distance" is the distance from the viewer's eye position (center of the eye box) to the first virtual image or the second virtual image. For example, the display distance is controlled by either changing the optical path length (the length of the optical path from the point where the optical axis of the optical system intersects with the display surface of the image display unit to the point where it intersects with the front windshield) from the image display unit having a backlit liquid crystal panel or the like to the projected member, or by changing the display position of the first virtual image (second virtual image) on the display surface of the image display unit. Here, the display distance is controlled by changing the display position, and the farther the display position is, the larger the display distance becomes, so that the sense of perspective can be adjusted. The "predetermined distance" is the display distance difference between the first virtual image and the second virtual image set by default in the forward and backward directions (the direction toward the front of the driver 4, who is the viewer in real space), and is, for example, 5 m.

[0012] According to the first aspect, the control unit displays the second virtual image farther away than the first virtual image based on the display position of the first virtual image, and sets a display distance difference between the display distances of the first virtual image and the second virtual image, in other words, by making the display positions of the first virtual image and the second virtual image different relative to the display surface of the image display unit, the positions indicated by the first virtual image and the second virtual image can be presented intuitively, and for example, when the vehicle passes through an intersection, the influence of the second image displayed as if it is standing in the traveling direction of the vehicle (a state that occurs when there is no display distance difference between the display distances of the first virtual image and the second virtual image) is prevented from giving the driver, who is the viewer, the erroneous recognition that he or she must turn right or left before the point to which the driver is to be guided. Therefore, the driver, who is the viewer, can intuitively grasp the point to turn right or left without error.

[0013] In a second aspect dependent on the first aspect, the first virtual image may be a guide line or arrow-shaped destination guidance image that is viewed as being positioned along the road surface on which the vehicle is traveling, and the second virtual image may be an arrow-shaped destination direction image that can be viewed stereoscopically as if floating along and above the road surface.

[0014] According to the second aspect, the first virtual image, which is a guide line or an arrow-shaped destination guide image, is visually recognized as being arranged along the road surface on which the vehicle runs, and the second virtual image, which is an arrow-shaped destination direction image, is stereoscopically recognized as being along the road surface and floating above the road surface, so that the driver, who is the viewer, can intuitively be informed that the driver is approaching the guidance point, in other words, the driver, who is the viewer, can intuitively grasp the guidance point without error. The guidance point refers to, for example, an intersection, a destination, a parking spot, etc.

[0015] In a third aspect that is dependent on the second aspect, the control unit may perform control such that, in accordance with route guidance information acquired from outside, the second virtual image is displayed on the outer edge of the first virtual image when the vehicle approaches an intersection, and the second virtual image is displayed on the center line in the fore-and-aft direction of the first virtual image when the vehicle approaches a destination.

[0016] Here, the "outer edge of the first virtual image" refers to the part of the outline of the arrow-shaped destination guidance image (first virtual image) that corresponds to the outer outline of the shaft portion, for example, Ge1 shown by the dashed line in Figure 5 (the position where the destination guidance image is displayed), and the "center line in the fore-and-aft direction of the first virtual image" refers to the center line that divides the width of the part of the arrow-shaped destination guidance image (first virtual image) that corresponds to the shaft in half along the fore-and-aft direction, for example, Ge2 shown by the dashed line in Figure 8 (the area where the destination direction image is displayed).

[0017] According to the third aspect, the control unit performs control to display the second virtual image (destination direction image) on the outer edge of the first virtual image (destination guidance image) when the vehicle approaches an intersection, and to display the second virtual image (destination direction image) on the center line in the front-rear direction of the first virtual image (destination guidance image) when the vehicle approaches the destination. In this way, by displaying the second virtual image (destination direction image) positioned on the outer edge of the first virtual image (destination guidance image) when the vehicle approaches an intersection, it is possible to intuitively present that the vehicle is traveling inside the first virtual image (destination guidance image), and by displaying the second virtual image (destination direction image) positioned on the center line in the front-rear direction of the first virtual image (destination guidance image) when the vehicle approaches the destination, it is possible to directly point out the destination, and it is possible to intuitively present where the vehicle is being guided. In other words, the driver, who is the viewer, can intuitively grasp the guidance point without error.

[0018] In a fourth aspect dependent on the third aspect, the control unit may perform control to display the second virtual image on a center line in the fore-and-aft direction of the first virtual image when the vehicle approaches a location where parking is possible in accordance with route guidance information acquired from outside.

[0019] According to the fourth aspect, the control unit performs control to display the second virtual image (destination direction image) on the center line in the front-rear direction of the first virtual image (destination guide image) when the vehicle approaches a spot where parking is possible. In this way, when the vehicle approaches a spot where parking is possible, the second virtual image (destination direction image) is displayed positioned on the center line in the front-rear direction of the first virtual image (destination guide image), so that the spot where parking is possible can be directly pointed out, and the approaching spot where parking is possible can be intuitively presented from the difference in display distance between the first virtual image (destination guide image) and the second virtual image (destination direction image). In other words, the driver, who is the viewer, can intuitively grasp the spot where parking is possible without error.

[0020] In a fifth aspect which is dependent on the first to fourth aspects, the control unit may, when the first virtual image and the second virtual image are displayed approaching each other as the vehicle approaches a guidance point and at least a portion of the images overlap, control the image display unit to display the second virtual image with an emphasis on the outer edge of the portion where the second virtual image overlaps with the first virtual image.

[0021] According to the fifth aspect, when the first virtual image (destination guidance image) and the second virtual image (destination direction image) are displayed partially overlapping each other due to the vehicle approaching the guidance point, the control unit performs control to emphasize and display the outer edge of the second virtual image (destination direction image) of the overlapping portion, thereby intuitively presenting that the vehicle is approaching the guidance point; in other words, the driver, who is the viewer, can accurately and intuitively understand that he or she is approaching the guidance point.

[0022] In a sixth aspect which is dependent on any one of the first to fourth aspects, the control unit may generate a shadow of the second virtual image, and project the generated shadow onto the first virtual image to display it on the image display unit.

[0023] Here, a "fall shadow" refers to the part (here, the shadow projected onto the first virtual image) that is created when the shape of an object (here, the second virtual image) is projected when light is blocked by the object, and its size and intensity change depending on the distance between the object on which the light hits (the second virtual image) and the object on which the shadow is cast (the first virtual image).

[0024] According to the sixth aspect, the control unit generates a shadow of the second virtual image (destination direction image) and projects and displays the shadow onto the first virtual image (destination guidance image), thereby indicating that the second virtual image is located on top of the first virtual image.Since the size and intensity of the shadow vary depending on the distance between the object on which the light hits (second virtual image) and the object on which the shadow is cast (first virtual image), the driver, who is the viewer, can accurately grasp that the vehicle is approaching the guidance point.

[0025] In a seventh aspect which is dependent on any one of the first to fourth aspects, the control unit may control the size of the second virtual image depending on the distance to the guidance point and control the display of the second virtual image on the image display unit.

[0026] According to the seventh aspect, the control unit controls and displays the size of the second virtual image (destination direction image) depending on the distance to the guidance point, so that the driver, who is the viewer, can accurately and intuitively grasp that he or she is approaching the guidance point based on the size of the second virtual image.

[0027] In an eighth aspect which is dependent on any one of the first to fourth aspects, the control unit may control at least one display attribute of the second virtual image, among transparency, brightness, contrast, and color, depending on the distance to the guidance point, and control the display on the image display unit.

[0028] According to the eighth aspect, the control unit controls and displays at least one display attribute of the second virtual image (destination direction image) among transparency, brightness, contrast, and color depending on the distance to the guidance point, thereby allowing the driver, who is the viewer, to accurately and intuitively grasp that he or she is approaching the guidance point based on the display attributes of the second virtual image.

[0029] In a ninth aspect which is dependent on the first aspect, the second virtual image is a destination direction image represented by two or more adjacent graphic elements, and the control unit may control the display of at least some of the graphic elements on the image display unit to blink.

[0030] According to the ninth aspect, the control unit controls the display of at least a part of the graphical element, which is the second virtual image, to flash, for example, by flashing all of the graphical elements when the vehicle is closest to the guidance point, thereby intuitively indicating to the driver, who is the viewer, that the vehicle is closest to the guidance point; in other words, the driver, who is the viewer, can accurately and intuitively grasp the guidance point.

[0031] In a tenth aspect which is dependent on the first aspect, the second virtual image is a destination direction image represented by two or more adjacent graphic elements, and the control unit may control the number of the graphic elements displayed on the image display unit to be increased or decreased depending on the distance to the guidance point.

[0032] According to the tenth aspect, the control unit controls the display of the second virtual image (destination direction image) by increasing or decreasing the number of graphical elements depending on the distance to the guidance point. For example, by displaying all of the graphical elements when the vehicle is closest to the guidance point, the driver, who is the viewer, can intuitively be informed of the closest approach to the guidance point. In other words, the driver, who is the viewer, can intuitively grasp the guidance point without any mistakes.

[0033] An eleventh aspect is a display control device having a processing device connected to a head-up display device that projects and displays an image superimposed on a foreground in a display area, which is an imaging surface virtually set in front of a vehicle, wherein the processing device executes a process of setting a display distance difference between the display distance of the first virtual image and the display distance of the second virtual image by displaying the second virtual image a predetermined distance away from the first virtual image based on the display position of the first virtual image, when displaying on the head-up display device a first virtual image that provides destination guidance for the vehicle and a second virtual image that indicates the destination direction of the vehicle in relation to the first virtual image so as to be positioned along the road surface and visible based on route guidance information acquired from outside.

[0034] According to the eleventh aspect, when the processing device acquires route guidance information from the outside and displays on the head-up display device a first virtual image (destination guidance image) for guiding the destination of the vehicle and a second virtual image (destination direction image) for indicating the destination direction of the vehicle in relation to the first virtual image so as to be arranged and viewed along the road surface, the processing device executes a process of displaying the second virtual image farther away than the first virtual image based on the display position of the first virtual image and setting a display distance difference between the first virtual image and the second virtual image, in other words, executes a process of differentiating the display positions of the first virtual image and the second virtual image relative to the display surface of the image display unit, thereby intuitively presenting the positions indicated by the first virtual image and the second virtual image, and for example, when the vehicle passes through an intersection, the viewer does not mistakenly recognize that he or she must turn right or left before the point to which the viewer is to be guided due to the influence of the second virtual image. Therefore, a display control device that can correctly and intuitively present the points to turn right or left can be provided.

[0035] A twelfth aspect is a vehicle display system having a head-up display device that projects and displays an image superimposed on a foreground on a display area, which is an imaging surface virtually set in front of the vehicle, a display control device that generates the image and controls the display on the head-up display device, and a navigation device that provides route guidance information to the display control device, wherein the display control device executes a process of setting a display distance difference between the display distance of the first virtual image and the display distance of the second virtual image by displaying the second virtual image a predetermined distance away from the first virtual image based on the display position of the first virtual image, when displaying on the head-up display device a first virtual image that provides destination guidance for the vehicle and a second virtual image that indicates the destination direction of the vehicle in relation to the first virtual image so as to be positioned along the road surface and visible based on the route guidance information acquired from the navigation device.

[0036] According to the twelfth aspect, when the display control device acquires route guidance information from the navigation device and displays on the head-up display device a first virtual image (destination guidance image) for guiding the destination of the vehicle and a second virtual image (destination direction image) for indicating the destination direction of the vehicle in relation to the first virtual image so as to be arranged along the road surface and be visually recognized, the second virtual image is displayed farther away than the first virtual image based on the display position of the first virtual image, and a display distance difference is set for the display distance of the first virtual image and the second virtual image. This makes it possible to intuitively present the positions indicated by the first virtual image and the second virtual image, and, for example, when the vehicle passes through an intersection, the viewer does not mistakenly recognize that he or she must turn right or left before the point to which the viewer is to be guided due to the influence of the second virtual image. Therefore, it is possible to provide a display system for a vehicle that can accurately and intuitively present the points to turn right or left.

[0037] Those skilled in the art will easily understand that the exemplified embodiments according to the present invention can be further modified without departing from the spirit of the present invention. [Brief description of the drawings]

[0038] [Figure 1] FIG. 1 shows an example of application of a head-up display device according to an embodiment of the present invention to a vehicle, and is a diagram cited for explaining the relationship between the driver's eye position and an imaging surface (display area) that is virtually set in front of the vehicle. [Diagram 2] FIG. 2 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. [Diagram 3] FIG. 3 is a flowchart showing an operation procedure of changing control of the display distance of the head-up display device according to the embodiment of the present invention. [Figure 4] FIG. 4 is a flowchart showing a processing procedure for route guidance of the head-up display device according to the embodiment of the present invention. [Diagram 5] FIG. 5 is a diagram showing a state in which the first virtual image and the second virtual image are displayed, in which the second virtual image displayed on the outer edge of the first virtual image is viewed from above. [Figure 6] FIG. 6 is a diagram showing a stereoscopic view of a second virtual image displayed on the outer edge of the first virtual image. [Figure 7] FIG. 7 is a diagram showing the second virtual image displayed at the outer edge of the first virtual image as viewed from the side. [Figure 8] FIG. 8 is a diagram of the second virtual image displayed on the center line in the front-rear direction of the first virtual image, as viewed from above. [Figure 9] FIG. 9 is a diagram showing a stereoscopic view of a second virtual image displayed on the center line in the front-rear direction of the first virtual image. [Figure 10] FIG. 10 is a diagram of the second virtual image displayed on the center line in the front-rear direction of the first virtual image, as viewed from the side. [Figure 11] FIG. 11 is a diagram of the second virtual image displayed on the center line in the front-rear direction of the parking possible spot, as viewed from above. [Figure 12] FIG. 12 is a stereoscopic view of the second virtual image displayed on the center line in the front-rear direction of the parking possible spot. [Figure 13] FIG. 13 is a diagram showing a state in which a first virtual image showing a destination guide image and a second virtual image showing a destination direction image represented by two or more adjacent graphic elements are displayed. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0039] The best mode described below is used to easily understand the present invention. Therefore, those skilled in the art should be aware that the present invention is not unduly limited by the mode described below (hereinafter, referred to as the present mode).

[0040] Hereinafter, a vehicle display system 1000 including a head-up display device (hereinafter, referred to as an HUD device 100 unless otherwise specified) according to the present embodiment will be described with reference to the accompanying drawings.

[0041] (Configuration of the embodiment) FIG. 1 shows an example of application of a HUD device 100 of this embodiment to a vehicle 1, and is a diagram cited to explain the relationship between the driver's eye position and a display area, which is an imaging surface virtually set in front of the vehicle.

[0042] In the following description, when a driver 4, who is a viewer of the HUD device 100 seated in the driver's seat of the vehicle 1, faces forward of the vehicle 1, the left-right direction is the X-axis (the left direction is the X-axis positive direction), the up-down direction is the Y-axis (the up direction is the Y-axis positive direction), and the front-rear direction is the Z-axis (the forward direction is the Z-axis positive direction).

[0043] Please refer to Fig. 1. The HUD device 100 of this embodiment is provided in the dashboard 5 of the vehicle 1, and includes a control unit 110 and an image display unit 120 (within the dashed line frame). The HUD device 100 emits display light L toward the front windshield 2 (an example of a projection target member), and allows the image to be viewed in a display area VA, which is an imaging surface that is virtually set forward of the front windshield 2 (in the positive direction of the Z axis). This allows the driver 4, who is the viewer, to view an image (virtual image) superimposed on the foreground FV, which is a real space viewed through the front windshield 2.

[0044] The display area VA is a plane, curved, or partially curved area on which an image generated inside the HUD device 100 is formed as a virtual image, and is also called an imaging surface. The display area VA itself has low visibility to the extent that it is not actually visible to the driver 4, or is difficult to be viewed. The display area VA has a vertical angle of view defined by an angle (tilt angle θt) between the horizontal direction (XZ plane) with the left-right direction (X-axis direction) of the vehicle 1 as an axis, a line segment connecting the center of the eye box (the eye position of the driver 4) and the upper end of the display area VA, and an angle (vertical arrangement angle θv) between the bisector of the vertical angle of view and the horizontal direction (XZ plane).

[0045] The eyebox is an area that is set to be the same as the area (also called the iris) where the eye position (center of the eyebox) of the driver 4 in the vehicle cabin is expected to be located, or to include a large part of it (e.g., 80% or more). For this reason, the eyebox is: (1) an area in which the entire virtual image can be seen, and a part of it cannot be seen outside the area; (2) an area in which at least a part of the virtual image can be seen, and no part of it can be seen outside the area; (3) an area in which at least a part of the virtual image can be seen with a predetermined brightness (e.g., about 1 / 50 of the brightness of the virtual image of the image seen at the center of the eyebox) or more, and the entire virtual image is below the predetermined brightness outside the area; and (4) an area in which at least a part of the virtual image can be seen stereoscopically, and no part of the virtual image can be seen stereoscopically outside the area, when a stereoscopically viewable virtual image can be displayed. That is, if the driver 4 places both eyes outside the eyebox, the driver 4 cannot see the entire virtual image, the visibility of the virtual image is very low and it is difficult to perceive, or the virtual image cannot be viewed stereoscopically.

[0046] 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 (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 is the screen of the projection display. The liquid crystal display 121 may be equipped with an actuator (not shown) such as a motor controlled by the control unit 110, and may be rotatable.

[0047] The relay optical system 122 is disposed on the optical path of light (display light L) of an 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 members 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, and may additionally include, for example, one or more refractive optical members such as lenses, diffractive optical members such as holograms, reflective optical members, or a combination of these.

[0048] The relay optical system 122 may be rotatable by being fitted with an actuator (not shown) such as a motor controlled by the control unit 110. Specifically, while the vehicular display system 1000 is stopped, the actuator can change the position and angle of the relay optical system 122 so that sunlight from the outside is not directed toward the liquid crystal display 121 through the relay optical system 122, and while the vehicular display system 1000 is operating, the actuator can change the position and angle of the relay optical system 122 so that the display light of an image from the liquid crystal display 121 is projected onto a predetermined position on the front windshield 2.

[0049] The image display unit 120 can change the angle (tilt angle θt) between the display area VA and the driving lane of the vehicle 1 by driving the actuator described above.

[0050] The tilt angle θt is set to an angle such that the upper part (the part in the positive Y-axis direction) of the display area VA as seen by the driver 4 is located farther from the driver 4 than the lower part (the part in the negative Y-axis direction) so as to be aligned with a horizontal plane (for example, the road surface of the driving lane on which the vehicle 1 is traveling). The tilt angle θt does not have to be 0 [degree] (the display area VA and the road surface are parallel), and is preferably set to less than 20 [degree], and is adjusted to a preset angle (or adjusted to be within a preset angle range). However, the set value of the tilt angle θt may be arbitrarily changeable by the driver 4.

[0051] Moreover, the vertical arrangement angle θv is set to an angle such that all or most of the display area VA is arranged below the horizontal direction. The vertical arrangement angle θv is typically set to less than 5 degrees below the horizontal direction, and is adjusted to a preset angle (or adjusted to be within a preset angle range). However, the set value of the vertical arrangement angle θv may be arbitrarily changeable by the driver 4.

[0052] The control unit 110 includes table data associating the vertical arrangement angle θv of the display area VA with the drive amount of the actuator, and table data associating the tilt angle θt of the display area VA with the drive amount of the actuator. Using these table data, the control unit 110 can drive each actuator so as to achieve the set tilt angle θt and vertical arrangement angle θv.

[0053] Fig. 2 is a block diagram showing a configuration of a vehicular display system 1000 including the HUD device 100. As shown in Fig. 2, the vehicular display system 1000 includes a display control device 300 and a navigation device 400, which are connected to each other so as to be able to communicate with each other bidirectionally via an I / O interface 500. A behavior sensor 401, a camera 402, a LiADR (Light Detection And Ranging) 403, an eye position sensor 404, etc. are further connected to the I / O interface 500.

[0054] The display control device 300 includes a processing device (hereinafter, referred to as a processor 200) and the HUD device 100. The processor 200 controls an interface with the navigation device 400 connected to the I / O interface 500 or various sensors 401 to 404, and can also execute a process of displaying the second virtual image farther away than the first virtual image based on the display position of the first virtual image to provide a display distance difference between the first virtual image and the second virtual image when displaying a first virtual image for guiding the destination of the vehicle 1 and a second virtual image indicating the destination direction of the vehicle in relation to the first virtual image on the HUD device 100 so as to be arranged along the road surface and be visually recognized based on route guidance information acquired from the outside.

[0055] Here, the "first virtual image" refers to a guide line or an arrow-shaped destination guide image that is visually recognized as being arranged along the road surface on which the vehicle 1 is traveling, for example, the guide image Gu1, an example of which is shown in Fig. 5. Also, the "second virtual image" refers to an arrow-shaped destination direction image that is visually recognized as being along the road surface and floating above the road surface, for example, the destination direction image Gu2, an example of which is shown in Fig. 5. Note that the arrow shape is a mark indicating directionality, with an arrowhead attached to the end point of a line segment having a width that becomes the shaft portion, and indicates a specific direction (destination direction).

[0056] The "display distance" is the distance from the viewer's eye position (eye-hook center) to the first virtual image (second virtual image), and the display distance is controlled by either changing the optical path length (the length of the optical path from the point where the optical axis of the optical system intersects with the display surface of the image display unit 120 to the point where it intersects with the front windshield 2) from the image display unit 120 having a backlit liquid crystal panel or the like to the projection target member, or by changing the display position of the first virtual image (second virtual image) on the display surface of the image display unit 120. Here, the display distance is controlled by changing the display position, and the farther the display position is, the larger the display distance becomes, so that the sense of perspective can be adjusted. The "predetermined distance" is the difference in display distance between the first virtual image (destination guide image) and the second virtual image (destination direction image) set by default in the front-rear direction, and is, for example, 5 m. Details will be described later.

[0057] As described with reference to FIG. 1, the HUD device 100 includes a control unit 110 and an image display unit 120, and the image display unit 120 includes a liquid crystal display 121 and a relay optical system 122.

[0058] The control unit 110 controls the image display unit 120 to display a first virtual image (destination guidance image) that provides destination guidance for the vehicle 1 and a second virtual image (destination direction image) that indicates the destination direction of the vehicle 1 in relation to the first virtual image so that they are arranged along the road surface and are visually recognized. Specifically, the control unit 110 controls the image display unit 120 to display the second virtual image farther away than the first virtual image based on the display position of the first virtual image, thereby setting a display distance difference between the display distance of the first virtual image and the display distance of the second virtual image.

[0059] Furthermore, the control unit 110 can perform control to display the second virtual image (destination direction image) on the outer edge of the first virtual image (destination guidance image) when the vehicle 1 approaches an intersection according to route guidance information acquired from the outside, and to display the second virtual image (destination direction image) on the center line in the front-rear direction of the first virtual image (destination guidance image) when the vehicle 1 approaches a destination. Also, when the vehicle 1 approaches a point where parking is possible, control may be performed to display the second virtual image on the center line in the front-rear direction of the first virtual image.

[0060] Here, the "outer edge of the first virtual image" refers to the part of the outline of the arrow-shaped destination guidance image (first virtual image) that corresponds to the outer outline of the shaft portion, for example, Ge1 (display position of the destination guidance image) shown by a dashed line in Figure 5, and the "center line of the first virtual image in the fore-and-aft direction" refers to the center line that divides the width of the part of the arrow-shaped destination guidance image (first virtual image) that corresponds to the shaft in half along the fore-and-aft direction, for example, Ge2 (display area of ​​the destination direction image) shown by a dashed line in Figure 8.

[0061] In addition, when the first virtual image (destination guidance image) and the second virtual image (destination direction image) are displayed approaching each other as the vehicle 1 travels and at least a portion of them overlap, the control unit 110 may perform control to display the second virtual image (destination direction image) on the image display unit 120 with the outer edge of the portion where the second virtual image (destination direction image) overlaps with the first virtual image (destination guidance image) emphasized.

[0062] Furthermore, the control unit 110 may perform control to generate a shadow of the second virtual image (destination direction image) and project the shadow onto the first virtual image (destination guide image) to display it on the image display unit 120. Here, the "shadow" refers to a part (here, a shadow projected onto the first virtual image) that is created when the shape of an object (here, the second virtual image) is projected as a result of light being blocked by the object, and the size and density of the shadow vary depending on the distance between the object on which the light hits (the second virtual image) and the object on which the shadow falls (the first virtual image).

[0063] Furthermore, the control unit 110 can control the size of the second virtual image (destination direction image) according to the distance to the guidance point and perform control to display it on the image display unit 110. Furthermore, the control unit 110 may control at least one display attribute of the second virtual image (destination direction image) among transparency, brightness, contrast, and color according to the distance to the guidance point and perform control to display it on the image display unit 120. Note that the guidance point refers to, for example, an intersection, a destination, a parking spot, etc.

[0064] When the second virtual image (destination direction image) is expressed by two or more adjacent graphic elements (for example, see Gu2' in FIG. 13), the control unit 110 may blink at least some of the graphic elements on the image display unit 120. Also, the control unit 110 may perform control to increase or decrease the number of graphic elements displayed on the image display unit 120 depending on the distance to the guidance point.

[0065] For this reason, the control unit 110 includes, for example, a processor with built-in memory (ROM / RAM) or an external processor, and a graphics controller that draws the first virtual image (destination guide image) and the second virtual image (destination direction image) generated by the processor 200 of the display control device 300 in a VRAM (Video RAM) allocated to a predetermined area of ​​the RAM, and displays them on the image display unit 120 according to the display timing, and the processor executes the programs recorded in the ROM to execute the above-mentioned functions. Also, at least a part of the above-mentioned functions can be realized by hardware such as an FPGA (Field Programmable Gate Array) or a logic circuit, without using a processor.

[0066] The navigation device 400 uses a behavior sensor 401 (described later) or a built-in Global Positioning System (GPS) or other Global Navigation Satellite System (GNSS) or gyro sensor to obtain map data from built-in map data or by wireless communication with the outside of the vehicle, and performs information processing such as guidance to facilities in the vicinity of the vehicle 1 and route guidance. Then, based on the results of this information processing, for example, when it is detected that the vehicle 1 is approaching an intersection where it should turn, a signal for prompting display output based on the results of this information processing is transferred to the display control device 300 (HUD device 100) via the I / O interface 500 at an appropriate timing.

[0067] As described above, the navigation device 400 has map data. The map data can be acquired and stored as the latest map data by communication 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 to represent the driving environment of the vehicle 1. The mapping data is preferably digital data of a particularly high-precision dynamic map. Note that a dynamic map is a digital map that combines a huge amount of dynamic information that changes from moment to moment, such as traffic regulations, construction information, accidents, congestion, pedestrians, and traffic lights information, with static information such as high-precision three-dimensional position information (road surface information, lane information, three-dimensional structures).

[0068] The behavior sensor 401 includes an IMU (Inertial Measurement Unit) vehicle speed sensor that detects the behavior of the vehicle 1, or a steering angle sensor that detects the steering angle of the steering wheel. The IMU uses a three-axis acceleration sensor and a three-axis angular velocity sensor (gyro sensor) to measure the driving situation and attitude of the vehicle (acceleration [m / s 2 The motion sensor 401 can detect translational motion in three axial directions from the velocity [deg / s] and rotational motion from the angular velocity [deg / s]. Information recognized or detected by the motion sensor 401 is transferred to the navigation device 400 and the display control device 300 (HUD device 100) via the I / O interface 500.

[0069] In addition to the above-mentioned behavior sensor 401, the vehicular display system 1000 has a camera 402, a LiDAR 403, and an eye position sensor 404 that recognize the surrounding driving environment including the front of the vehicle 1.

[0070] The camera 402 captures at least the forward field of view (actual view) of the vehicle 1, and the LiDAR 403 uses near-infrared light, visible light, and ultraviolet light to, for example, shine light on obstacles present in front of the vehicle 1 captured by the camera 402, capture the reflected light with an optical sensor, and determine the distance to the obstacle based on the time difference.

[0071] The eye position sensor 404 is composed of an infrared camera or the like that detects the eye position of the driver 4. The display control device 300 (processing device 200) acquires an image captured by the infrared camera (one example of information from which the eye position can be estimated) and can identify the eye position of the driver 4 by analyzing this captured image. Note that the processing device 200 may acquire information on the eye position of the driver 4 identified from the image captured by the infrared camera from the I / O interface 500. Note that the method of acquiring the eye position of the driver 4 of the vehicle 1 or information from which the eye position of the driver 4 can be estimated is not limited to these, and may be acquired using a known eye position detection (estimation) technology.

[0072] The I / O interface 500 communicates (also referred to as CAN communication) with other components (reference numerals 400 to 404) via an ECU (not shown) provided in the vehicle 1 in addition to the display control device 300 according to, for example, the CAN (Controller Area Network) standard. Note that the communication standard adopted by the I / O interface 500 is not limited to CAN, and includes, for example, wired communication interfaces such as CANFD (CAN with Flexible Data Rate), LIN (Local Interconnect Network), Ethernet (registered trademark), MOST (Media Oriented Systems Transport: MOST is a registered trademark), UART (Universal Asynchronous Receiver Transmitter), or USB (Universal Serial Bus), or in-vehicle communication (internal communication) interfaces that are short-range wireless communication interfaces within several tens of meters, such as a personal area network (PAN) such as a Bluetooth (registered trademark) network, or a local area network (LAN) such as an 802.11x Wi-Fi (registered trademark) network.

[0073] In addition, the I / O interface 500 may include an external communication (external communication) interface such as a wide area communication network (e.g., an Internet communication network) based on cellular communication standards such as a wireless wide area network (WWAN0, IEEE802.16-2004 (WiMAX: Worldwide Interoperability for Microwave Access)), IEEE802.16e-based (Mobile WiMAX), 4G, 4G-LTE, LTE Advanced, and 5G.

[0074] (Operation of the embodiment) Fig. 3 is a flowchart showing the change control of the display distance by the HUD device 100 of this embodiment. Fig. 5 is a diagram showing the destination direction image (second virtual image) displayed on the outer edge of the destination guide image (first virtual image) as viewed from above. Hereinafter, the operation of the vehicular display system 1000 shown in Fig. 2, mainly the operation of the HUD device 100, will be described with reference to Figs. 3 and 5.

[0075] 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 guide route to a set destination is displayed on the map, and an image showing the course change direction before a course change point based on the guide route is displayed, and an enlarged map of the vicinity of an intersection is displayed to provide route guidance on the screen.

[0076] The display control device 300 (processing device 200) generates an arrow-shaped destination guidance image (first virtual image: see, for example, Gu1 in FIG. 5) that is visually recognized as being arranged along the road surface, and an arrow-shaped destination direction image (second virtual image: see, for example, Gu2 in FIG. 5) that is visually recognized as floating above the road surface, based on map information acquired from the navigation device 400. Then, the display distance of the destination guidance image (first virtual image: see, for example, Gu1 in FIG. 5) is set. Here, the set display distance refers to the distance from the eye position (center of the eye box) of the driver 4 who is the viewer to the destination guidance image Gu1 (first virtual image) displayed on the display surface of the image display unit 120 (liquid crystal display 121) of the HUD device 100, and refers to displaying a virtual image 10 m ahead of the vehicle 1, for example.

[0077] Next, in the HUD device 100, the control unit 110 acquires information on the display distance of the destination guidance image Gu1 (first virtual image) set by the display control unit 300 (processing device 200) (step ST101), and sets the display distance of an arrow-shaped destination direction image (second virtual image: for example, see Gu2 in FIG. 5) that is visually recognized as floating above the road surface a predetermined distance (for example, 5 m) away from the display distance of the set destination guidance image Gu1 (first virtual image) (step ST102). That is, the display distance of the destination direction image Gu2 (second virtual image) is set to be a predetermined distance away from the destination guidance image Gu1 (first virtual image), different from that of the destination guidance image Gu1 (first virtual image).

[0078] In other words, the display distance difference between the destination guidance image Gu1 (first virtual image) and the destination direction image Gu2 (second virtual image) is a value set by the control unit 110, and the display distance of the destination direction image Gu2 (second virtual image), which is perceived as floating above the road surface, can be calculated by adding a value (e.g., 5 m) set by the control unit 110 to the display distance (e.g., 10 m) of the destination guidance image Gu1 (first virtual image).

[0079] The display distance difference between the destination guidance image Gu1 (first virtual image) and the destination direction image Gu2 (second virtual image) set here can be adjusted by changing the display positions of the destination guidance image Gu1 (first virtual image) and the destination direction image Gu2 (second virtual image). That is, the display distance difference between the destination guidance image Gu1 (first virtual image) and the destination direction image Gu2 (second virtual image) can be adjusted by displaying the destination guidance image Gu1 (first virtual image) at a position close to the vehicle 1 (for example, 10 m ahead) and displaying the destination direction image Gu2 (second virtual image) at a position far from the vehicle 1 (for example, 15 m ahead). Then, the display positions of these virtual images (the destination guidance image Gu1 and the destination direction image Gu2) can be adjusted so that they are superimposed on the foreground (road, etc.) of the vehicle 1, thereby realizing an augmented reality.

[0080] The control unit 110 includes table data that associates the display distance difference with the display position of the destination direction image Gu2 (second virtual image) to be changed. This table data varies depending on the specifications of the HUD device 100, such as the screen size and resolution, or the eye position of the driver 4 who is the viewer, so values ​​are set in advance by experiments, simulations, etc. The destination direction image Gu2 (second virtual image) is adjusted so as to be displayed at an appropriate display position according to the display distance difference set using this table data. The display position of the destination guidance image Gu1 (first virtual image) is determined according to the coordinates of the road surface indicated by the map information.

[0081] If it is determined in step ST103 that there is a "display distance difference" (step ST103 "YES"), the control unit 110 performs control to place the destination direction image Gu2 (second virtual image) at a distance of, for example, 5 m farther than the destination guidance image Gu1 (first virtual image) (step ST104). The control to place the destination direction image Gu2 (second virtual image) at a distance farther than the destination guidance image Gu1 (first virtual image) refers to control to draw the image at a corresponding position of a VRAM (Video RAM) built into the control unit 110, which has a capacity equal to or larger than the display area VA, which is an imaging surface virtually set in front of the vehicle 1, and the drawing position (display position) in this case is determined by referring to table data prepared in advance in the control unit 110, as described above.

[0082] Next, in synchronization with the display timing (step ST106 "YES"), the control unit 110 reads out the destination guidance image Gu1 (first virtual image) and the destination direction image Gu2 (second virtual image) from the VRAM and controls the image display unit 120 (liquid crystal display 121) to display them at the corresponding positions (step ST107).

[0083] On the other hand, if it is determined in step ST103 that there is no difference in display distance (step ST103 "NO"), in other words, if the display distances of the destination guidance image Gu1 (first virtual image) and the destination direction image Gu2 (second virtual image) are the same, the control unit 110 performs control to place the destination direction image Gu2 (second virtual image) directly above the destination guidance image Gu1 (first virtual image) (step ST105). Then, in synchronization with the display timing (step ST106 "YES"), the control unit 110 performs control to read out the destination guidance image Gu1 (first virtual image) and the destination direction image Gu2 (second virtual image) from the VRAM and display them at the corresponding positions of the image display unit 120 (liquid crystal display 121) (step ST107).

[0084] Fig. 4 is a flow chart showing the route guidance processing operation by the HUD device 100 of this embodiment. Figs. 5 to 13 are diagrams showing an example of the display form of the destination guidance image Gu1 (first virtual image) and the destination direction image Gu2 (second virtual image) by the HUD device of this embodiment. In Figs. 5 to 13, the direction toward the front of the driver 4 who is the viewer in real space is defined as the front-rear direction, the direction along the line connecting the left and right eyes of the driver 4 is defined as the lateral direction, the direction along the line perpendicular to the front-rear direction (lateral direction) is defined as the up-down direction, the direction away from the road surface is defined as the up direction, and the direction approaching the road surface is defined as the down direction, in the following description.

[0085] Figure 5 is a top view of the destination direction image Gu2 (second virtual image) displayed on the outer edge of the destination guidance image Gu1 (first virtual image) near an intersection, Figure 6 is a stereoscopic view of the destination direction image Gu2 (second virtual image) displayed on the outer edge of the destination guidance image Gu1 (first virtual image), Figure 7 is a side view of the destination direction image Gu2 (second virtual image) displayed on the outer edge of the destination guidance image Gu1 (first virtual image), and Figure 8 is a top view of the destination direction image Gu2 (second virtual image) displayed on the center line in the front-to-back direction of the destination guidance image Gu1 (first virtual image).

[0086] In addition, Figure 9 is a stereoscopic view of a destination direction image Gu2 (second virtual image) displayed on the center line in the front-to-back direction of the destination guidance image Gu1 (first virtual image) near the destination, Figure 10 is a side view of the second virtual image displayed on the center line in the front-to-back direction of the destination guidance image Gu1 (first virtual image), Figure 11 is a top view of the destination direction image Gu2 (second virtual image) displayed on the center line in the front-to-back direction of the parking possible point Gu3, Figure 12 is a stereoscopic view of the destination direction image Gu2 (second virtual image) displayed on the center line in the front-to-back direction of the parking possible point Gu3, and Figure 13 is a view showing a state in which a destination guidance image (first virtual image) and a destination direction image Gu2' (second virtual image) represented by two or more adjacent graphic elements are displayed.

[0087] Hereinafter, the operation of the vehicular display system 1000 shown in FIG. 2, mainly the operation of the HUD device 100, will be described with reference to FIG. 4 and FIGS.

[0088] First, the navigation device 400 controls to display 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. Also, route guidance information to a set destination is generated and displayed on the map (step ST201). Based on the route guidance information, the display control device 300 (processing device 200) generates, for example, an arrow-shaped destination guidance image (first virtual image: Gu1 in FIG. 5) that is visually recognized along the road surface just before a lane change point such as an intersection, and an arrow-shaped destination direction image (second virtual image: Gu2 in FIG. 5) that is visually recognized along the road surface and floating above the road surface (separated from the road surface), and transfers them to the control unit 110 of the HUD device 100.

[0089] In accordance with the route guidance information acquired from the navigation device 400, when the vehicle 1 approaches an intersection (step ST202 "YES"), the control unit 110 of the HUD device 100 draws a destination direction image Gu2 (second virtual image) on the outer edge of the destination guidance image Gu1 (first virtual image) (step ST203), and when the vehicle 1 is not near an intersection (step ST202 "NO") but approaching the vicinity of the destination (step ST204 "YES"), the control unit 110 performs control to draw the destination direction image Gu2 (second virtual image) on the center line in the forward / backward direction of the destination guidance image Gu1 (first virtual image) (step ST205).

[0090] Furthermore, when the vehicle 1 is not near the destination (step ST204 "NO") but is approaching the vicinity of the parking available point Gu3 (step ST206 "YES"), a control is performed to draw the destination direction image Gu2 (second virtual image) on the center line in the front-rear direction of the destination guide image Gu1 (first virtual image) (step ST207). The approach is determined based on whether the vehicle 1 has reached, for example, 300 m before the intersection.

[0091] Here, the "outer edge of the destination guidance image Gu1" refers to the part of the outline of the arrow-shaped destination guidance image Gu1 (first virtual image) that corresponds to the outer outline of the shaft portion, for example, Ge1 shown by the dashed line in Figure 5 (the display position of the destination direction image Gu2), and the "center line in the front-to-back direction of the destination guidance image Gu1" refers to the part of the arrow-shaped destination guidance image (first virtual image) that corresponds to the shaft, divided in half along the front-to-back direction, for example, Ge2 shown by the dashed line in Figure 8 (the area where the destination direction image Gu2 is displayed).

[0092] If the parking available point is not Gu3 (step S206 "NO"), the process returns to step ST202.

[0093] Next, when the control unit 110 displays the destination guidance image Gu1 (first virtual image) and the destination direction image Gu2 (second virtual image) generated by the display control device 300 (processing device 200) on the image display unit 120 (liquid crystal display 121), it can change the visual impression of the destination direction image Gu2 (second virtual image) by controlling the display attributes according to the distance to a guidance point such as an intersection or a destination (step ST208).

[0094] For example, when the destination guidance image Gu1 (first virtual image) and the destination direction image Gu2 (second virtual image) are displayed close to each other and at least a part of them overlap as the vehicle 1 approaches the guidance point, the control unit 110 may perform control to display the destination direction image Gu2 (second virtual image) on the image display unit 120 (liquid crystal display 121) with emphasis on the outer edge of the part where the destination direction image Gu2 (second virtual image) overlaps with the destination guidance image Gu1 (first virtual image). This makes it possible to intuitively present that the vehicle 1 is approaching the guidance point, in other words, the driver 4, who is the viewer, can intuitively and without error grasp that the vehicle 1 is approaching the guidance point.

[0095] The control unit 110 may also perform control to generate a shadow of the destination direction image Gu2 (second virtual image) and project the generated shadow onto the destination guidance image Gu1 (first virtual image) to display it on the image display unit (liquid crystal display 121). Here, the "shadow" refers to a part (here, a shadow projected onto the first virtual image) that is created when the shape of an object is projected by blocking light (here, the second virtual image), and the size and density of the shadow vary depending on the distance between the object on which the light hits (the second virtual image) and the object on which the shadow falls (the first virtual image). Therefore, by adjusting the size and density depending on the distance between the object on which the light hits (the second virtual image) and the object on which the shadow falls (the first virtual image), it is possible to intuitively present that the vehicle 1 is approaching the guidance point, in other words, the driver 4, who is the viewer, can intuitively grasp that the vehicle 1 is approaching the guidance point without any mistake.

[0096] The control unit 110 may also control the size of the destination direction image Gu2 (second virtual image) according to the distance to the guidance point and control the image display unit (liquid crystal display 121) to display the image, so that the driver 4, who is the viewer, can accurately and intuitively grasp that the guidance point is being approached based on the size of the destination direction image Gu2 (second virtual image). The control unit 110 may also control at least one display attribute of the destination direction image Gu2 (second virtual image) among transparency, brightness, contrast, and color according to the distance to the guidance point and control the image display unit 120 (liquid crystal display 121).

[0097] For example, as shown in Fig. 13, when the destination direction image Gu2' (second virtual image) is expressed by two or more adjacent graphic elements, the control unit 110 may control the display on the image display unit 120 (liquid crystal display 121) by blinking at least a part of the graphic elements (the former) or increasing or decreasing the number of the graphic elements (the latter). In the former case, for example, by blinking all of the graphic elements when the vehicle is closest to the guidance point, and in the latter case, for example, by displaying all of the graphic elements when the vehicle is closest to the guidance point, the driver, who is the viewer, can intuitively be informed of the closest approach to the guidance point, in other words, the driver, who is the viewer, can intuitively grasp the guidance point without error.

[0098] Next, in synchronization with the display timing (step ST209 "YES"), the control unit 110 reads out the destination guidance image Gu1 (first virtual image) and the destination direction image Gu2 (second virtual image) from the VRAM and controls the image display unit 120 (liquid crystal display 121) to display them at the corresponding positions (step ST210).

[0099] Figure 5 shows a top view of the destination direction image Gu2 (second virtual image) displayed on the outer edge of the destination guidance image Gu1 (first virtual image) near an intersection, Figure 6 shows a stereoscopic view of the destination direction image Gu2 (second virtual image) displayed on the outer edge of the destination guidance image Gu1 (first virtual image), and Figure 7 shows a side view of the destination direction image Gu2 (second virtual image) displayed on the outer edge of the destination guidance image Gu1 (first virtual image).

[0100] As shown in Fig. 5 to Fig. 7, the control unit 110 performs control to display the destination direction image Gu2 (second virtual image) on the outer edge of the destination guidance image Gu1 (first virtual image) when the vehicle 1 approaches an intersection, and to display the destination direction image Gu2 (second virtual image) on the center line in the front-rear direction of the first virtual image (destination guidance image) when the vehicle 1 approaches a destination, as shown in Fig. 8. In this way, by displaying the destination direction image Gu2 (second virtual image) positioned on the outer edge of the destination guidance image Gu1 (first virtual image) when the vehicle 1 approaches an intersection, it is possible to intuitively present that the vehicle 1 is traveling inside the destination guidance image Gu1 (first virtual image).

[0101] Figure 8 shows a top view of the destination direction image Gu2 (second virtual image) displayed on the center line in the front-to-back direction of the destination guide image Gu1 (first virtual image) near the destination, Figure 9 shows a three-dimensional view of the destination direction image Gu2 (second virtual image) displayed on the center line in the front-to-back direction of the (first virtual image), and Figure 10 shows a side view of the destination direction image Gu2 (second virtual image) displayed on the center line in the front-to-back direction of the (first virtual image).

[0102] 8 to 10, when approaching the destination, the destination direction image Gu2 (second virtual image) is displayed on the center line in the front-rear direction of the destination guide image Gu1 (first virtual image), so that the destination can be directly pointed out and the direction to which the vehicle 1 is being guided can be intuitively presented. In other words, the driver, who is the viewer, can intuitively grasp the guidance point without error.

[0103] In addition, Figure 11 shows a top view of the destination direction image Gu2 (second virtual image) displayed on the center line in the fore-aft direction of the parking point Gu3, and Figure 12 shows a stereoscopic view of the destination direction image Gu2 (second virtual image) displayed on the center line in the fore-aft direction of the parking point.

[0104] As shown in Fig. 11 and Fig. 12, the control unit 110 performs control to display the destination direction image Gu2 (second virtual image) on the center line in the front-rear direction of the destination guide image Gu1 (first virtual image) when the vehicle 1 approaches the parking possible point Gu3. In this way, when the vehicle 1 approaches the parking possible point Gu3, the destination direction image Gu2 (second virtual image) is displayed at a position on the center line in the front-rear direction of the destination guide image Gu1 (first virtual image), so that the parking possible point Gu3 can be directly pointed out, and the approaching parking possible point Gu3 can be intuitively presented from the display distance difference between the destination guide image Gu1 (first virtual image) and the destination direction image Gu2 (second virtual image). In other words, the driver 4, who is the viewer, can intuitively grasp the parking possible point Gu3 without any mistake.

[0105] (Modification) According to the above-mentioned vehicle display system 1000, the display control device 300 (processing device 200) generates a destination guidance image Gu1 (first virtual image) and a destination direction image Gu2 (second virtual image), and sets the display distance of the destination guidance image Gu1 (first virtual image). Then, the HUD device 100 (control unit 110) acquires information on the display distance of the destination guidance image Gu1 (first virtual image) from the display control device 300 (processing device 200), and sets the display distance of the destination direction image Gu2 (second virtual image) a predetermined distance away, for example, 5 m, as described above.

[0106] In response to this, the display control device 300 (processing device 200) generates the destination guidance image Gu1 (first virtual image) and the destination direction image Gu2 (second virtual image) and sets the display distance of the destination guidance image Gu1 (first virtual image), and the HUD device 100 further sets the destination direction image Gu2 (second virtual image) at a predetermined distance (set by default) from the destination guidance image Gu1 (first virtual image) based on the display position of the destination guidance image Gu1 (first virtual image). By displaying the first virtual image and the second virtual image at a distance of, for example, 5 m, a display distance difference is set between the display distance of the destination guide image Gu1 (first virtual image) and the display distance of the destination direction image Gu2 (second virtual image), and it is possible to perform control such that the destination guide image Gu1 (first virtual image) and the destination direction image Gu2 (second virtual image) are displayed at corresponding positions on the image display unit 120. In other words, the HUD device 100 can execute the above-mentioned series of controls by itself.

[0107] Alternatively, the HUD device 100 may be regarded simply as a display device, and the display control device 300 (processing device 200) may generate a destination guide image Gu1 (first virtual image) and a destination direction image Gu2 (second virtual image), set the display distance of the destination guide image Gu1 (first virtual image) and the display distance of the destination direction image Gu2 (second virtual image), and transfer them to the HUD device 100 (control unit 110), and the HUD device 100 (control unit 110) may display the destination guide image Gu1 (first virtual image) and the destination direction image Gu2 (second virtual image) at the corresponding positions. In this case, the processing load on the HUD device 100 (control unit 110) can be reduced.

[0108] (Effects of the embodiment) As described above, the head-up display device of the present embodiment is a head-up display device (HUD device 100) that projects and displays a virtual image superimposed on a foreground in a display area that is an image formation surface virtually set in front of the vehicle 1, as shown in, for example, Fig. 1 and Fig. 2. The HUD device 100 has an image display unit 120 that displays a first virtual image (a guide line or an arrow-shaped destination guidance image that is visually recognized as being arranged along the road surface on which the vehicle 1 runs, for example, see the destination guidance image Gu1 shown in Fig. 5) that guides the destination of the vehicle 1, and a second virtual image (an arrow-shaped destination direction image that is visually recognized as being along the road surface and floating above the road surface, for example, see the destination direction image Gu2 shown in Fig. 5) that indicates the destination direction of the vehicle 1 in relation to the first virtual image, and a control unit 110 that controls displaying the first virtual image and the second virtual image on the image display unit 120 so that they are visually recognized as being arranged along the road surface. Then, the control unit 110 sets a display distance difference between the display distances of the first virtual image and the second virtual image by displaying the second virtual image a predetermined distance (the display distance difference between the first and second virtual images in the front-to-back direction (Z axis shown in Figure 1) set by default, for example, 5 m) away from the first virtual image based on the display position of the first virtual image, and performs control to display the first virtual image and the second virtual image at the corresponding positions on the image display unit 120, respectively.

[0109] According to the head-up display device (HUD device 100) of this embodiment, the control unit 110 displays the second virtual image at a predetermined distance away from the first virtual image based on the display position of the first virtual image, and sets a display distance difference between the display distances of the first virtual image and the second virtual image, in other words, by making the display positions of the first virtual image and the second virtual image different from each other on the display surface of the image display unit 120, the positions indicated by the first virtual image and the second virtual image can be presented intuitively. For example, when the vehicle 1 passes through an intersection, the influence of the second image displayed as if it is standing in the traveling direction of the vehicle 1 (a state that occurs when there is no display distance difference between the display distances of the first virtual image and the second virtual image) is not given to the driver 4, who is the viewer, to erroneously recognize that he or she must turn right or left before the point to which the driver 4 is to be guided. Therefore, the driver 4, who is the viewer, can intuitively grasp the point to turn right or left without error.

[0110] Furthermore, according to the head-up display device (HUD device 100) of this embodiment, the first virtual image (see Gu1 in FIG. 5), which is a guide line or an arrow-shaped destination guidance image, is viewed as being arranged along the road surface on which the vehicle 1 is traveling, and the second virtual image (see, for example, Gu2 in FIG. 6), which is an arrow-shaped destination direction image, is viewed stereoscopically along the road surface and as floating above the road surface (above the Y-axis in FIG. 1), so that the driver 4, who is the viewer, can intuitively know that he or she is approaching a guidance point, in other words, the driver 4, who is the viewer, can intuitively grasp the guidance point such as an intersection without any mistakes.

[0111] Furthermore, according to the head-up display device (HUD device 100) of this embodiment, the control unit 110 performs control so as to display a second virtual image (for example, see destination direction image Gu2 in FIG. 5) on the outer edge (a portion of the contour (edge) of the arrow-shaped destination guidance image Gu1 that corresponds to the outer contour of the shaft portion, for example, Ge1 shown by a dashed line in FIG. 5) of the first virtual image (for example, see destination guidance image Gu1 in FIG. 5) when the vehicle 1 approaches an intersection, and to display the second virtual image on the center line in the fore-and-aft direction of the first virtual image (a center line obtained by dividing the width of the portion of the arrow-shaped destination guidance image Gu1 that corresponds to the shaft in half along the fore-and-aft direction, for example, Ge2 shown by a dashed line in FIG. 8) when the vehicle 1 approaches the destination. In this way, when the vehicle 1 approaches an intersection, the second virtual image (destination direction image Gu2) is displayed on the outer edge of the first virtual image (destination guidance image Gu1), thereby intuitively indicating that the vehicle is traveling inside the first virtual image (destination guidance image), and when the vehicle approaches a destination, the second virtual image (destination direction image Gu2) is displayed on the center line in the front-rear direction of the first virtual image (destination guidance image Gu1), thereby directly indicating the destination, and intuitively indicating where the vehicle 1 is being guided. In other words, the driver 4, who is the viewer, can intuitively grasp the guidance point without error.

[0112] Moreover, according to the head-up display device (HUD device 100) of this embodiment, the control unit 110 performs control to display the second virtual image (destination direction image Gu2) on the center line in the front-rear direction of the first virtual image (destination guide image Gu1) when the vehicle 1 approaches a spot where parking is possible. In this way, when the vehicle 1 approaches a spot where parking is possible, the second virtual image (destination direction image Gu2) is displayed at a position on the center line in the front-rear direction of the first virtual image (destination guide image Gu1), so that the spot where parking is possible can be directly pointed out, and the approaching spot where parking is possible can be intuitively presented from the display distance difference between the display distance of the first virtual image (destination guide image Gu1) and the display distance of the second virtual image (destination direction image Gu2). In other words, the driver 4, who is the viewer, can intuitively grasp the spot where parking is possible without error.

[0113] Furthermore, according to the head-up display device (HUD device 100) of this embodiment, when the first virtual image (destination guidance image Gu1) and the second virtual image (destination direction image Gu2) are displayed partially overlapping each other due to the vehicle 1 approaching the guidance point, the control unit 110 performs control to highlight and display the outer edge of the second virtual image (destination direction image Gu2) of the overlapping portion, thereby intuitively presenting that the vehicle 1 is approaching the guidance point, in other words, the driver 4, who is the viewer, can intuitively and without error grasp that the vehicle 1 is approaching the guidance point.

[0114] According to the head-up display device (HUD device 100) of the present embodiment, the control unit 110 generates a shadow of the second virtual image (destination direction image Gu2) and projects and displays the shadow on the first virtual image (destination guidance image Gu1), thereby indicating that the second virtual image (destination direction image Gu2) is located above the first virtual image (destination guidance image Gu1). Since the size and density of the shadow vary depending on the distance between the object on which the light hits (destination direction image Gu2) and the object on which the shadow falls (destination guidance image Gu1), the driver 4 who is the viewer can accurately grasp the state in which the vehicle 1 is approaching the guidance point. Note that the "shadow" is a part (here, a shadow or shadow projected on the first virtual image) that is created when the shape of the object is projected by blocking the light (here, the second virtual image), and the size and density of the shadow vary depending on the distance between the object on which the light hits (the second virtual image) and the object on which the shadow falls (the first virtual image).

[0115] Furthermore, according to the head-up display device (HUD device 100) of this embodiment, the control unit 110 controls and displays the size of the second virtual image (destination direction image Gu2) according to the distance to the guidance point, or controls and displays at least one display attribute of the second virtual image (destination direction image Gu2) among transparency, brightness, contrast, and color, allowing the driver to accurately and intuitively grasp that he or she is approaching the guidance point.

[0116] According to the head-up display device (HUD device 100) of the present embodiment, for example, as shown in FIG. 13, if the second virtual image is a destination direction image (destination direction image Gu2') represented by two or more adjacent graphic elements, the control unit 110 controls the display of at least some of the graphic elements to blink, for example, by blinking all of the graphic elements when the driver approaches the guidance point, so that the driver, who is the viewer, can intuitively know the closest approach to the guidance point. In other words, the driver, who is the viewer, can intuitively know the guidance point without error. Also, by controlling the display of the graphic elements to increase or decrease the number according to the distance to the guidance point, for example, by displaying all of the graphic elements when the driver approaches the guidance point without error, the driver, who is the viewer, can intuitively know the closest approach to the guidance point. In other words, the driver, who is the viewer, can intuitively know the guidance point without error.

[0117] 2, the display control device 300 of the present embodiment is connected to a head-up display device (HUD device 100) that projects and displays a virtual image superimposed on a foreground in a display area that is an image formation surface virtually set in front of the vehicle 1. The display control device 300 has a processing device 200, and when the processing device 200 displays a first virtual image (see destination guidance image Gu1 in FIG. 5) that guides the destination of the vehicle 1 and a second virtual image (see destination direction image Gu2 in FIG. 5) that indicates the destination direction of the vehicle 1 in relation to the first virtual image so as to be arranged along the road surface and visually recognized, based on route guidance information acquired from the outside (navigation device 400), the processing device 200 executes a process of setting a display distance difference between the display distance of the first virtual image and the display distance of the second virtual image by displaying the second virtual image a predetermined distance away from the first virtual image based on the display position of the first virtual image.

[0118] According to the display control device 300 of this embodiment, when the processing device 200 acquires route guidance information from the outside and displays on the HUD device 100 a first virtual image (destination guidance image Gu1) that provides destination guidance for the vehicle 1 and a second virtual image (destination direction image Gu2) that indicates the destination direction of the vehicle in relation to the first virtual image so that they are arranged along the road surface and are visible, a process is executed to display the second virtual image a predetermined distance away from the first virtual image based on the display position of the first virtual image, and to set a display distance difference between the display distance of the first virtual image and the display distance of the second virtual image. In other words, by executing a process to make the display positions of the first virtual image and the second virtual image different relative to the display surface of the image display unit 120, the positions indicated by the first virtual image and the second virtual image can be intuitively presented, and for example, when the vehicle passes through an intersection, the viewer will not be given the mistaken impression that he or she must turn right or left before the point to which the viewer is to be guided, due to the influence of the second virtual image. Therefore, it is possible to provide a display control device 300 that can accurately and intuitively present points where to turn right or left.

[0119] The vehicular display system of this embodiment is, for example, as shown in FIG. 2, a vehicular display system 1000 having a head-up display device (HUD device 100) that projects and displays a virtual image superimposed on a foreground in a display area, which is an imaging surface virtually set in front of the vehicle 1, a display control device 300 that generates the virtual image and controls its display on the HUD device 100, and a navigation device 400 that provides route guidance information to the display control device 300. Then, based on route guidance information acquired from the navigation device 400, the display control device 300 (processing device 200) executes a process of setting a display distance difference between the display distance of the first virtual image and the display distance of the second virtual image by displaying the second virtual image (destination direction image Gu2) a predetermined distance away from the first virtual image based on the display position of the first virtual image (destination guidance image Gu1) when displaying on the HUD device 100 a first virtual image (e.g., see destination guidance image Gu1 in FIG. 5) that provides destination guidance for the vehicle 1 and a second virtual image (e.g., see destination direction image Gu2 in FIG. 5) that indicates the destination direction of the vehicle 1 in relation to the first virtual image so as to be arranged along the road surface and be visible.

[0120] According to the vehicular display system 1000 of the present embodiment, when the display control device 300 acquires route guidance information from the navigation device 400 and displays on the HUD device 100 a first virtual image (destination guidance image Gu1) for guiding the destination of the vehicle 1 and a second virtual image (destination direction image Gu2) for indicating the destination direction of the vehicle in relation to the first virtual image so as to be arranged and visually recognized along the road surface, the second virtual image is displayed farther away than the first virtual image based on the display position of the first virtual image, and a process is executed to set a display distance difference between the first virtual image and the second virtual image, so that the positions indicated by the first virtual image and the second virtual image can be presented intuitively. For example, when the vehicle 1 passes through an intersection, the driver 4, who is the viewer, does not erroneously recognize that he or she must turn right or left before the point to which the driver is to be guided, due to the influence of the second virtual image. Therefore, it is possible to provide a vehicular display system 1000 that can correctly and intuitively present the points to turn right or left.

[0121] The present invention is not limited to the above-described exemplary embodiments, and those skilled in the art could easily modify the above-described exemplary embodiments to the extent that they fall within the scope of the claims. [Explanation of symbols]

[0122] 100...head-up display device (HUD device), 110...control unit, 120...image display unit, 121...liquid crystal display, 122...relay optical system, 200...processor, 300...display control device, 400...navigation device, 401...behavior sensor, 402...camera, 403...LiADR, 404...eye position sensor, 500...I / O interface, 1000...vehicle display system, VA...display area, Gu1...destination guide image, Gu2...destination direction image, Gu3...parking spot, Ge1...display position (outer edge) of destination guide image, Ge2...area where destination direction image is displayed

Claims

1. A head-up display device that projects and displays a virtual image on a display area, which is an image forming surface virtually set in front of a vehicle, by superimposing the virtual image on a foreground, an image display unit that displays a first virtual image for guiding the destination of the vehicle and a second virtual image that indicates the destination direction of the vehicle in relation to the first virtual image; a control unit that controls the image display unit to display the first virtual image and the second virtual image so that the first virtual image and the second virtual image are arranged along a road surface and are visually recognized, The control unit is A head-up display device that displays the second virtual image a predetermined distance away from the first virtual image based on the display position of the first virtual image, thereby setting a display distance difference between the display distance of the first virtual image and the display distance of the second virtual image, and controls the first virtual image and the second virtual image to be displayed at the corresponding positions on the image display unit, respectively.

2. The first virtual image is a destination guide image formed by guide lines or arrow-shaped figures that are visually recognized as being arranged along a road surface on which the vehicle is traveling, The second virtual image is 2. The head-up display device according to claim 1, wherein the destination direction image is formed of an arrow-shaped augmented reality image that is visually perceived as floating along and above the road surface.

3. The control unit is displaying the second virtual image on an outer edge of the first virtual image when the vehicle approaches an intersection according to route guidance information acquired from an external device; 3. The head-up display device according to claim 2, further comprising a control for displaying the second virtual image on a center line in a front-rear direction of the first virtual image when the vehicle approaches a destination.

4. The control unit is 4. The head-up display device according to claim 3, wherein when the vehicle approaches a location where parking is possible according to route guidance information acquired from an external source, the second virtual image is controlled to be displayed on a center line in the fore-and-aft direction of the first virtual image.

5. The control unit is 5. A head-up display device according to claim 3, wherein when the first virtual image and the second virtual image are displayed approaching each other and at least a portion of them overlap as the vehicle approaches a guidance point, the second virtual image is controlled to be displayed on the image display unit with an outer edge of the portion where the second virtual image overlaps with the first virtual image emphasized.

6. The control unit is 5. The head-up display device according to claim 3, further comprising control for generating a shadow of the second virtual image, projecting the generated shadow onto the first virtual image, and displaying the projected shadow on the image display unit.

7. The control unit is 5. The head-up display device according to claim 3, further comprising: a control for controlling a size of the second virtual image to be displayed on the image display unit in accordance with a distance to a guidance point.

8. The control unit is 5. A head-up display device as claimed in claim 3 or claim 4, wherein at least one display attribute of the second virtual image, selected from the transparency, brightness, contrast and color, is controlled to be displayed on the image display unit in accordance with the distance to the guidance point.

9. The second virtual image is a destination direction image represented by two or more adjacent graphic elements; The control unit is The head-up display device according to claim 1 , wherein control is performed to cause at least a part of the graphic elements to be displayed on the image display unit in a blinking manner.

10. The second virtual image is a destination direction image composed of two or more adjacent graphic elements; The control unit is 2. The head-up display device according to claim 1, wherein the number of said graphic elements displayed on said image display unit is increased or decreased according to the distance to the guidance point.

11. A display control device including a processing device, to which a head-up display device that projects and displays a virtual image superimposed on a foreground is connected to a display area that is an image formation surface virtually set in front of a vehicle, The processing device includes: A display control device that, when displaying on the head-up display device a first virtual image that provides destination guidance for the vehicle and a second virtual image that indicates the destination direction of the vehicle in relation to the first virtual image so that they are arranged along a road surface and can be seen based on route guidance information acquired from outside, executes a process of setting a display distance difference between the display distance of the first virtual image and the display distance of the second virtual image by displaying the second virtual image a predetermined distance away from the first virtual image based on the display position of the first virtual image.

12. A display system for a vehicle includes a head-up display device that projects and displays a virtual image on a foreground in a display area that is an imaging plane virtually set in front of a vehicle, a display control device that generates the image and controls the display on the head-up display device, and a navigation device that provides route guidance information to the display control device, The display control device includes: A vehicle display system that, when displaying on the head-up display device a first virtual image that provides destination guidance for the vehicle and a second virtual image that indicates the destination direction of the vehicle in relation to the first virtual image so that they are arranged along a road surface and visible, based on route guidance information acquired from the navigation device, executes a process of setting a display distance difference between the display distance of the first virtual image and the display distance of the second virtual image by displaying the second virtual image a predetermined distance away from the first virtual image based on the display position of the first virtual image.

Images