Display system for mobile body and display control device

Abstract

To reduce visual discomfort during turning caused by an image displayed in a manner of being superimposed on an actual scene.SOLUTION: A display system 10 for mobile body which displays an image on a display unit in a manner of being superimposed on an actual scene, includes: turning-related information acquisition means 311, 315 which acquires turning-related information of the mobile body; attitude information acquisition means 230 which acquires attitude information of the mobile body; control means 210 which sets correction information for correcting a display position of the image displayed on the display unit; and display position adjustment means 100 which adjusts the display position of the image on the basis of the correction information. The control means 210 calculates a correction amount for correcting the display position of the image on the basis of the attitude information, sets correction information in which the correction amount calculated on the basis of the attitude information is continuously or gradually reduced as turning intensity of the mobile body increases on the basis of the turning-related information, and adjusts the display position of the image on the basis of the correction information set according to the turning state.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a display system for a moving body that superimposes an image (virtual object) on an actual scene in the traveling direction of the moving body. [Background technology]

[0002] When driving a moving object such as a vehicle, a display system for a moving object capable of displaying driving support information on a windshield or the like in front of the vehicle (in the traveling direction of the vehicle) has been developed. A head-up display (HUD) device is known as an example of a display system for a moving object. The head-up display device is a device that displays an augmented reality (AR) in which information from an image (virtual object) is added and emphasized to a real scene (including real objects present in the real scene) by superimposing an image (virtual object) on the real scene in front of the vehicle (superimposed display). By superimposing an image on the real scene in front of the vehicle, driving support information can be provided accurately while minimizing the movement of the driver's line of sight, which contributes to safe and comfortable vehicle operation.

[0003] In recent head-up display devices, in order to suppress the relative positional deviation between an image (virtual object) and a real scene caused by a change in the attitude of a vehicle, etc., a process is performed to move (shift) the display position of the image in accordance with the change in the attitude of the vehicle, etc. (For example, see Patent Document 1). As a result, even if a change in the attitude of a vehicle, etc. occurs, the relative positional relationship between the image and the real scene is maintained (the positional deviation between the image and the real scene is suppressed), so it becomes possible to harmonize the image with the real scene. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2022-128905 Summary of the Invention [Problem to be solved by the invention]

[0005] In the head-up display device described in Patent Document 1, a process is performed to move the display position of the image in response to changes in the attitude of the vehicle, etc., so that, for example, when the vehicle turns, a process of moving the image is performed in response to changes in the attitude of the vehicle, etc.

[0006] However, when a vehicle or the like turns, the driver's viewpoint moves to the side in the turning direction, and the driver's interest in the discrepancy between the display position of the image and the actual scene tends to decrease. In this case, if the image moves in response to the change in the vehicle's posture, the driver may see the image moving up and down meaninglessly in the side of the field of view, which may give the driver a visual sense of discomfort.

[0007] The present disclosure has been made in consideration of the above-mentioned problems, and has an objective of providing a display system for a moving body that is less likely to cause a visual discomfort to the driver by correcting the display position of an image (virtual object) when the moving body turns. [Means for solving the problem]

[0008] In order to solve the above-mentioned problems, a display system for a moving body in a first embodiment of the present disclosure is a display system for a moving body that displays an image on a display unit installed in the traveling direction of a moving body so as to be superimposed on an actual scene in the traveling direction, and includes: turning-related information acquisition means that acquires turning-related information from turning information detection means that detects turning-related information related to a turning state of the moving body; attitude information acquisition means that acquires attitude information for determining an inclination state of the moving body with respect to the traveling direction from an attitude detection means installed on the moving body; and control means that sets correction information for correcting the display position of the image to be displayed on the display unit; and a display position adjustment means for adjusting the display position of the image displayed on the display unit based on the correction information set by the control means, wherein the control means calculates a correction amount for correcting the display position of the image based on the attitude information acquired by the attitude information acquisition means, and sets the correction information by continuously or stepwise reducing the correction amount calculated based on the attitude information as the strength of turning of the moving body (hereinafter also referred to as the turning state) becomes stronger based on the turning-related information acquired by the turning-related information acquisition means, and the display position adjustment means adjusts the display position of the image based on the correction information set in accordance with the turning state.

[0009] Moreover, in the moving body display system in the first embodiment, a moving body display system displays an image on a display unit installed on the moving body's traveling direction side so as to be superimposed on an actual scene on the moving body's traveling direction side, the moving body display system includes a turning-related information acquisition means for acquiring turning-related information from a turning information detection means for detecting turning-related information related to a turning state of the moving body, an attitude information acquisition means for acquiring attitude information for determining an inclination state of the moving body with respect to the traveling direction from an attitude detection means installed on the moving body, a control means for setting correction information for correcting a display position of the image to be displayed on the display unit, and a display unit for displaying the image on the display unit based on the correction information set by the control means. and a display position adjustment means for adjusting the display position of the image to be displayed, wherein the control means calculates a correction amount for correcting the display position of the image based on the attitude information acquired by the attitude information acquisition means, and based on the turning-related information acquired by the turning-related information acquisition means, divides the turning state of the moving body into two or more stages according to the strength of turning when the moving body moves, and sets the correction information by gradually reducing the correction amount calculated based on the attitude information according to the divided turning state, and the display position adjustment means adjusts the display position of the image based on the correction information set according to the turning state.

[0010] In addition, in a display system for a moving body in a second embodiment that can be dependent on the first embodiment, the turning-related information at least has steering amount information indicating the steering amount of a steering wheel provided on the moving body and speed information indicating the speed of the moving body, and the control means determines what stage of turning state the moving body is in based on the steering amount in the steering amount information and the speed in the speed information.

[0011] Furthermore, in a display system for a moving body in a third embodiment which may be dependent on the first or second embodiment, the turning-related information at least has angular velocity information indicating an angular velocity in the yaw direction of the moving body, and the control means determines what stage of turning state the moving body is in based on the magnitude of the angular velocity in the angular velocity information.

[0012] In addition, in a fourth embodiment of a display system for a moving body which can be dependent on the first to third embodiments, the control means is characterized in that when the turning state divided into stages is at or above a predetermined stage, the control means sets the correction information while maintaining the correction amount of the correction information set in the turning state one stage before the predetermined stage.

[0013] In addition, in a display system for a moving body in a fifth embodiment which can be dependent on the first to fourth embodiments, the control means is characterized in that when the turning state, which is divided into stages, is at or above a predetermined stage, the control means sets the correction information based on a correction amount that does not adjust the display position of the image in the display position adjustment means.

[0014] In addition, in a sixth embodiment of a display system for a moving body that can be dependent on the first to fifth embodiments, the control means is characterized in that, when dividing the turning state into stages according to the strength of turning during movement of the moving body, the condition for increasing the stage of the turning state by increasing the strength of turning during the movement from a weak state to a strong state is different from the condition for decreasing the stage of the turning state by decreasing the strength of turning during the movement from a strong state to a weak state.

[0015] Furthermore, in a seventh embodiment which can be dependent on the first to sixth embodiments, the display system for a moving body includes a brightness adjustment means for adjusting the brightness of the image displayed on the display unit, and the control means sets brightness information in which the brightness of the image is gradually reduced according to the turning state which is divided into stages, and the brightness adjustment means adjusts the brightness of the image displayed on the display unit based on the brightness information set by the control means.

[0016] The display control device in the eighth embodiment is a display control device that controls a head-up display device that displays an image on a display unit installed in the direction of travel of a moving body so as to be superimposed on an actual scene in the direction of travel, and includes: a memory configured to store a plurality of instructions; and a processing circuit configured to operate as follows when executing the plurality of instructions stored in the memory, wherein the operation includes: acquiring turning-related information from a turning information detection means that detects turning-related information related to the turning state of the moving body; acquiring attitude information for determining the inclination state of the moving body with respect to the direction of travel of the moving body from an attitude detection means installed in the moving body; calculating a correction amount for correcting the display position of the image based on the acquired attitude information; setting the correction information in which the correction amount calculated based on the attitude information is continuously or stepwise reduced as the strength of turning of the moving body (hereinafter also referred to as the turning state) becomes stronger based on the acquired turning-related information; and adjusting the display position of the image based on the correction information set according to the turning state.

[0017] In addition, in a display control device in a ninth embodiment that can be dependent on the eighth embodiment, the turning-related information includes at least steering amount information indicating the steering amount of a steering wheel provided on the moving body and speed information indicating the speed of the moving body, and the processing circuit determines what stage of turning state the moving body is in based on the steering amount in the steering amount information and the speed in the speed information.

[0018] In addition, in a display control device in a 10th embodiment that may be dependent on the 8th or 9th embodiment, the turning-related information at least has angular velocity information indicating an angular velocity in the yaw direction of the moving body, and the processing circuit determines at what stage of turning state the moving body is in based on the magnitude of the angular velocity in the angular velocity information.

[0019] In addition, in a display control device in an 11th embodiment which can be dependent on the 8th to 10th embodiments, when the turning state divided into stages is equal to or higher than a predetermined stage, the processing circuit sets the correction information while maintaining the correction amount of the correction information set in the turning state one stage before the predetermined stage.

[0020] In addition, in a display control device in a 12th embodiment which can be dependent on the 8th to 11th embodiments, the processing circuit sets the correction information based on a correction amount that does not adjust the display position of the image in the display position adjustment means when the rotation state, which is divided into stages, is at or above a predetermined stage.

[0021] In addition, in the display control device of the 13th embodiment which can be dependent on the 8th to 12th embodiments, when the processing circuit divides the turning state into stages according to the strength of turning during movement of the moving body, the condition for increasing the stage of the turning state by increasing the strength of turning during the movement from a weak state to a strong state and the condition for decreasing the stage of the turning state by decreasing the strength of turning during the movement from a strong state to a weak state are different conditions.

[0022] In addition, in a display control device in a 14th embodiment which may be dependent on the 8th to 13th embodiments, the processing circuit sets brightness information that gradually reduces the brightness of the image according to the turning state which is divided into stages. Effect of the Invention

[0023] According to the moving body display system and display control device disclosed herein, it is possible to reduce the visual discomfort that may be felt by the driver by correcting the display position of an image (virtual object) when the moving body turns. [Brief description of the drawings]

[0024] [Figure 1] FIG. 1 is a schematic diagram showing a schematic configuration of a vehicular display system according to an embodiment. [Diagram 2]FIG. 2 is a block diagram showing a schematic configuration of a display control device according to an embodiment. [Diagram 3] FIG. 3 is a flowchart showing the process of the display control unit in the embodiment. [Figure 4] FIG. 4 is a diagram showing the change over time in the pitch angle of a vehicle in a traveling state, the correction amount set as correction information, and the amount of deviation of the display position of an image (virtual object) relative to the real scene (including a real image object) in a vehicular display system according to an embodiment. [Diagram 5] FIG. 5 is another diagram showing the change over time in the pitch angle of a vehicle in a traveling state, the correction amount set as correction information, and the amount of deviation of the display position of an image (virtual object) relative to the real scene (including a real image object) in the vehicular display system of the embodiment. [Figure 6] FIG. 6 is a diagram showing coefficients (coefficients by which correction amounts are multiplied) that change depending on the steering angle in the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] The mobile display system of the present disclosure will be described in detail below with reference to the drawings, showing a vehicle display system as an example. The mobile display system can be applied as a display system for mobile objects such as vehicles, such as four-wheeled automobiles and two-wheeled automobiles, as well as ships, aircraft, agricultural machinery, and construction machinery.

[0026] Fig. 1 is a schematic diagram showing a schematic configuration of a vehicle display system according to an embodiment. As shown in Fig. 1, a vehicle display system (display system for a moving body) 10 includes a HUD (head-up display) device (display position adjustment means, brightness adjustment means) 100 and a display control device 200.

[0027] The HUD device 100 is installed in an instrument panel 3 of a vehicle (mobile body) 1. The HUD device 100 has a display (display position adjustment means, brightness adjustment means) 101, a plane mirror 102, a concave mirror 103, and a HUD control unit (display position adjustment means, brightness adjustment means) 105, and is housed in a housing 106.

[0028] The display 101 is a device that outputs an image (virtual object) for the driver 9 to view as display light L in response to an instruction from the HUD control unit 105. As the display 101, for example, a TFT (Thin Film Transistor) type liquid crystal display or an organic EL (Electroluminescence) type display can be used.

[0029] The plane mirror 102 is a mirror that reflects the display light L (image: virtual object) output from the display 101 toward the concave mirror 103, and the concave mirror 103 is a mirror that further reflects the display light L reflected by the plane mirror 102 and emits it toward the windshield (display unit) 2. The concave mirror 103 has a function as a magnifying mirror, and magnifies the image (virtual object) of the display light L output from the display 101 before irradiating it onto the windshield 2 of the vehicle 1.

[0030] The driver 9 visually recognizes the reflected light of the display light L irradiated onto the windshield 2 as an image (virtual object) V. The image (virtual object) V visually recognized by the driver 9 through the windshield 2 is displayed so as to overlap with the actual scene outside (in front of) the windshield 2.

[0031] In order to allow the driver 9 to easily view the image through the windshield 2, a projector or a screen constituting a display surface can be installed on the instrument panel 3 or on the windshield 2.

[0032] The HUD control unit 105 performs processing for outputting an image (display light L) to the display 101 based on image information received from a display control unit (control means) 210 of the display control device 200 described later. In addition, the HUD control unit 105 adjusts the drawing position of the image on the display 101 based on correction information received from the display control unit 210, thereby adjusting the display position of an image (virtual object) projected onto the windshield 2.

[0033] 2 is a block diagram showing a schematic configuration of the display control device 200. The display control device 200 includes a display control unit (processing circuit) 210, a memory 220, and an I / O interface unit (turning-related information acquisition means, attitude information acquisition means) 230.

[0034] The display control unit (processing circuit) 210 may include at least one general-purpose microprocessor (e.g., a central processing unit (CPU)), at least one application specific integrated circuit (ASIC), at least one field programmable gate array (FPGA), or any combination thereof.

[0035] The memory 220 includes any type of magnetic medium such as a hard disk, any type of optical medium such as a CD and a DVD, any type of semiconductor memory such as a volatile memory, and a non-volatile memory. The volatile memory may include a DRAM and an SRAM, and the non-volatile memory may include a ROM and an NVROM. The memory 220 stores image data (data such as a sign image and an arrow image) for creating an image (virtual object) V, a program that records the processing contents in the display control unit 210, and various data required for processing judgment (threshold data, table data, etc., for example, table data for determining a turning state described later). As the memory 220, a general recording medium such as a magnetic medium, a volatile memory, or a non-volatile memory is used.

[0036] The I / O interface unit 230 is connected to various devices installed in the vehicle 1, and the display control unit 210 is able to acquire various pieces of information from the various devices via the I / O interface unit 230. The I / O interface unit 230 includes a vehicle ECU (Electronic Control Unit: turning information detection means) 311 capable of acquiring, for example, acceleration information, speed information (turning-related information) of the vehicle 1, brake operation information based on the amount of regenerative braking operation (amount of power generated by regenerative braking), and the like, an external camera unit 312 capable of acquiring image information outside the vehicle 1 (for example, image information capturing the situation in front of or behind the vehicle), a GPS (Global Positioning System) for detecting the position of the vehicle itself, and the like. It is possible to connect a vehicle position detection unit 313 consisting of an external communication unit 314 connected to an Internet line or the like for transmitting and receiving various information, an operation detection unit (turning information detection means) 315 for detecting operation information such as the amount of steering (turning related information) operated by the driver 9 and the amount of depression of the brake pedal and accelerator pedal, an attitude detection unit (attitude detection means, turning information detection means) 316 capable of acquiring acceleration information indicating the acceleration of the vehicle 1 and angular velocity information (turning related information) indicating the angular velocity of the vehicle 1, etc., an outside sensor unit 317 capable of detecting other vehicles and obstacles present around the vehicle, a brightness detection unit 318 capable of detecting the brightness outside the vehicle, and an information communication terminal 319 consisting of a smartphone, a tablet, etc.

[0037] For ease of explanation, in the display control device 200 in the embodiment, a vehicle ECU 311 that acquires speed information and the like of the vehicle 1, an operation detection unit 315 that detects information such as the steering amount of the steering wheel, and an attitude detection unit 316 that can acquire acceleration information and angular velocity information of the vehicle 1 will be described.

[0038] The vehicle ECU 311 is a computer that electronically controls various devices such as a transmission and an engine to operate ADAS (Advanced Driver-Assistance Systems) including ACC (Adaptive Cruise Control) or in response to an accelerator opening or a vehicle speed. Various information for performing the above-mentioned control is input to the vehicle ECU 311, and the display control unit 210 is able to obtain information related to the speed of the vehicle 1 (hereinafter referred to as speed information) by connecting the vehicle ECU 311 to the I / O interface unit 230.

[0039] The operation detection unit 315 is a device that detects the amount of steering operation by the driver 9 and the operation of pedals such as an accelerator pedal, a brake pedal, and a clutch pedal. For example, the operation detection unit 315 detects a steering amount indicating how much the driver 9 has steered the steering wheel to the left or right. By connecting the operation detection unit 315 to the I / O interface unit 230, the display control unit 210 is able to acquire information on the steering amount (such as steering angle) of the steering wheel (hereinafter referred to as steering amount information).

[0040] The attitude detection unit 316 is a device provided for the purpose of grasping and predicting changes in the attitude of the vehicle 1. An IMU (Inertial Measurement Unit) is generally used as the attitude detection unit 316. The IMU is equipped with a three-axis (roll axis, pitch axis, and yaw axis) angular velocity (gyro) sensor (deg / s), a three-axis (X axis, Y axis, and Z axis) acceleration sensor (m / s2), and the like, and is capable of detecting three-dimensional inertial motion (translational motion and rotational motion in three orthogonal axial directions). The roll axis is an axis extending in the front-rear direction of the vehicle 1, the pitch axis is an axis extending in the left-right direction of the vehicle 1, the yaw axis is an axis extending in the up-down direction of the vehicle 1, the X axis is an axis extending in the front-rear direction of the vehicle 1, the Y axis is an axis extending in the left-right direction of the vehicle 1, and the Z axis is an axis extending in the up-down direction of the vehicle 1.

[0041] By connecting the attitude detection unit 316 to the I / O interface unit 230, the display control unit 210 is able to acquire acceleration information indicating the acceleration and angular velocity information indicating the angular velocity of the vehicle 1. Note that, since it is sufficient for the processing in the display control unit 210 of the present disclosure to be able to detect only the angular velocity information, it is possible to omit the detection processing of the acceleration information as necessary.

[0042] The display control unit 210 performs a process of creating an image (virtual object) to be projected onto the windshield 2 and outputting it to the HUD control unit 105. For example, the display control unit 210 acquires image data of a road sign (such as a maximum speed sign or a no entry sign for vehicles) from the memory 220 based on a road sign recognized from an image of the area ahead of the vehicle captured by the external camera unit 312, and creates image information of a suitable image V to be projected onto the windshield 2. Similarly, the display control unit 210 acquires image data indicating the vehicle speed during travel (image data indicating the travel speed) from the memory 220 based on speed information acquired from the vehicle ECU 311, and creates image information of the image V. Furthermore, the display control unit 210 can set brightness information for adjusting the brightness of the image V to the image information.

[0043] The image information created by the display control unit 210 is output in real time to the HUD control unit 105, and is projected onto the windshield 2 by the HUD device 100. When the display control unit 210 sets luminance information for the image information, the image is displayed on the windshield 2 at a brightness according to the set luminance information.

[0044] Furthermore, the display control unit 210 creates correction information for adjusting the display position of the image based on the speed information of the vehicle 1 from the vehicle ECU 311, the angular velocity information from the attitude detection unit 316, and the steering amount information of the steering wheel from the operation detection unit 315, all of which are acquired via the I / O interface unit 230, and performs processing to output the correction information to the HUD control unit 105. The HUD control unit 105 adjusts the display position of the image (virtual object) projected onto the windshield 2 by performing processing to adjust the drawing position of the image on the display 101 based on the correction information acquired from the display control unit 210.

[0045] Information regarding a display position where the image projected onto the windshield 2 and the actual scene are not misaligned relative to each other when the vehicle 1 is horizontal to the road surface (this display position is referred to as a "reference position") is recorded in advance in the memory 220. The display control unit 210 acquires information regarding the reference position from the memory 220, calculates the amount of deviation of the image from the reference position based on a change in the attitude of the vehicle 1, and corrects this amount of deviation, thereby performing a correction process for the display position of the image (virtual object).

[0046] Furthermore, the display control unit 210 can calculate a pitch angle (tilt information) indicating how much the angle of the front part of the vehicle 1 (or the angle of the rear part of the vehicle 1) is tilted with respect to the vehicle 1 that is horizontal to the road surface, based on the angular velocity information acquired from the attitude detection unit 316. Methods for calculating the pitch angle, etc., based on the angular velocity information are well known, and various methods can be used. For example, a method of calculating by integral calculation of angular velocity, a method of calculating using a Kalman filter, etc. are known. Furthermore, it is also possible to calculate the pitch angle, etc., based on the acceleration information acquired from the attitude detection unit 316, and since these methods are also well known, detailed explanations will be omitted here.

[0047] In addition, in the display control unit 210 of the present disclosure, as described later with reference to FIG. 3, a case will be described in which angular velocity information (angular velocity) is used as attitude information for determining the inclination state of the vehicle 1 with respect to the traveling direction to perform processing. Therefore, in this embodiment, it is not necessary to obtain pitch angle information or the like as attitude information. However, instead of angular velocity information (angular velocity), pitch angle information or the like can be used as attitude information for determining the inclination state of the vehicle 1 with respect to the traveling direction. Furthermore, it is also possible to obtain the pitch angle, roll angle, or yaw angle to determine the turning state of the vehicle 1. For this reason, it is also possible to configure the display control unit 210 to obtain the pitch angle, roll angle, or yaw angle based on the angular velocity information or acceleration information as necessary. In addition, in FIG. 4 and FIG. 5 described later, the time change of the pitch angle is shown as an example of the inclination state so that the inclination state of the vehicle 1 can be easily understood. In some embodiments, the display control unit 210 acquires angular velocity (an example of attitude information) and / or acceleration (an example of attitude information) from a sensor provided in the vehicle 1 or the HUD device 100, calculates the attitude (attitude information) of the vehicle 1 from the angular velocity (an example of attitude information) and / or acceleration (an example of attitude information), and calculates a correction amount from the attitude information.

[0048] Next, a description will be given of the processing performed by the display control unit 210 to correct the display position of the image projected onto the windshield 2. FIG.

[0049] The display control unit 210 acquires angular velocity information of the vehicle 1 from the attitude detection unit 316 via the interface unit 230 (S.01), acquires speed information from the vehicle ECU (S.02), and further acquires steering amount information from the operation detection unit 315 (S.03).

[0050] Next, the display control unit 210 performs a process of calculating a correction amount for correcting the display position of the image (virtual object) based on the angular velocity information (angular velocity) (S.04). The correction amount calculated by the display control unit 210 according to the angular velocity is called the angular velocity correction amount. The angular velocity correction amount indicates the amount of movement of the image to be moved according to the angular velocity, by the adjustment amount of the drawing position of the image on the display device 101, etc. When the front part of the vehicle 1 is not tilted (pitch angle is 0 degrees), the image is projected (displayed) at a reference position with respect to the windshield 2. The display control unit 210 can determine how much the display position of the image has deviated (moved (shifted)) from the reference position by calculating the pitch angle based on the angular velocity of the angular velocity information.

[0051] The display control unit 210 sets an adjustment amount (correction amount) for adjusting the drawing position of the image on the display device 101 according to the angular velocity of the angular velocity information. The adjustment amount (correction amount) of the display device 101 set according to the angular velocity is recorded in advance as table data or the like in the memory 220. The display control unit 210 calculates the angular velocity correction amount by finding the adjustment amount (correction amount) corresponding to the acquired angular velocity information based on the table data.

[0052] Next, the display control unit 210 performs a process to obtain the turning state of the vehicle 1 (S.05). The display control unit 210 of the present disclosure performs image correction processing by changing the correction amount for correcting the display position of the image according to the turning state of the vehicle 1. The display control unit 210 sets two turning states, a first state and a second state, in advance as the turning state of the vehicle 1. The first state is intended to mean, for example, "a state in which the vehicle 1 is moving almost straight" or "a state in which the vehicle attitude of the vehicle 1 does not change significantly even when it is turning".

[0053] The "state in which the vehicle 1 is moving almost straight" corresponds to a state in which the speed change of the vehicle 1 is small, such as when the steering wheel is turned to change lanes, and the steering wheel is turned only slightly, or the action from turning the steering wheel to returning it to its original position is slow. Also, the "state in which the vehicle attitude of the vehicle 1 does not change significantly even when turning" corresponds to a state in which the vehicle speed is approximately slow (approximately 10 km / h or less and at a speed at which the vehicle can be stopped within 1 m) even when the steering wheel is turned a large amount (large steering angle). For example, this corresponds to a case in which the vehicle is moving at a low speed within a designated area such as during parking or in a parking lot of a shopping center.

[0054] The second state is intended to mean a state in which the turning force (turning ability) during movement of the vehicle 1 is stronger (state in which the strength of the turning is stronger) than in the above-mentioned first state. For example, the moving state of the vehicle 1 in which the driver 9 unconsciously visually checks (sees) the view ahead of the vehicle where the driver 9 has turned the steering wheel (the actual view in the distance on the side where the driver has turned the steering wheel) during turning of the vehicle 1 corresponds to the second state.

[0055] The conditions for determining whether the turning state is the first state or the second state are not limited to a specific content (single criterion). If it can be determined that the vehicle is moving in such a way that the driver 9 unconsciously looks at the state ahead of the vehicle after turning the steering wheel, various conditions can be set as conditions for determining whether the turning state is the second state or not. For example, when the vehicle is moving at a speed faster than slow speed but is relatively slow, and the steering amount of the steering wheel is large, or when the vehicle speed is high and the steering amount of the steering wheel is not large but the steering angle of the steering wheel is continuously maintained (such as when driving on a loop-shaped road), it can be determined that the vehicle is in the second state.

[0056] For this reason, in the display control unit 210 in the embodiment, as an example, a case will be described in which the first state or the second state is determined from the correspondence between the steering amount of the steering wheel and the speed of the vehicle 1. First, table data for determining whether the turning state of the vehicle 1 is in the second state or not is recorded in the memory 220 in advance from the correspondence between the steering amount of the steering wheel and the speed of the vehicle 1. Specifically, a vehicle speed that can be determined as the second state is set in advance in the table data for each steering amount of the steering wheel, and a vehicle speed that can be determined as the second state is obtained from the table data based on the steering amount of the steering amount information obtained in the processing of S.03, and when the speed information obtained in the processing of S.02 is higher than the obtained vehicle speed, the turning state of the vehicle 1 is determined to be in the second state.

[0057] Also, contrary to the above, it is possible to set in advance in table data the steering amount of the steering wheel that can be judged as the second state for each vehicle speed, and obtain from the table data the steering amount that can be judged as the second state based on the speed information obtained in the processing of S.02, and determine that the turning state of vehicle 1 is in the second state if the steering amount of the steering amount information obtained in the processing of S.03 is greater than the obtained steering amount.

[0058] As another example, the angular velocity in the yaw direction (the turning direction of the vehicle 1) may be calculated based on the angular velocity information acquired in the process of S.01, and if the angular velocity in the yaw direction is greater than (or equal to or greater than) a preset threshold value, it may be determined to be in the second state, and if it is equal to or less than (or smaller than) the threshold value, it may be determined to be in the first state. In addition, the conditions for determining whether the turning state of the vehicle 1 is in the first state or the second state are not limited to the above-mentioned examples, and it is also possible to set a different condition to determine whether the turning state is in the first state or the second state.

[0059] The display control unit 210 judges whether the turning state obtained in the process of S.05 is the first state (S.06). If the turning state is the first state (Yes in S.06), the display control unit 210 sets the correction information to be output to the HUD control unit 105 based on the angular velocity correction amount (correction amount based on the angular velocity) obtained in the process of S.04 (S.07). On the other hand, if the turning state is not the first state (No in S.06, that is, if the turning state is the second state), the display control unit 210 obtains a value (correction amount) obtained by multiplying the value of the angular velocity correction amount (correction amount based on the angular velocity) obtained in the process of S.04 by 0.5, and sets the correction information to be output to the HUD control unit 105 based on the obtained value (correction amount) (S.08).

[0060] The display control unit 210 outputs the correction information set by the process of S.07 or the process of S.08 to the HUD control unit 105 (S.09), and ends the process shown in Fig. 3. The HUD control unit 105 adjusts the drawing position of the image on the display 101 based on the correction information acquired from the display control unit 210, thereby adjusting the display position of the image projected on the windshield 2. After the process shown in Fig. 3 ends, the display control unit 210 repeatedly executes the process shown in Fig. 3.

[0061] 4 is a diagram showing the pitch angle of the vehicle 1 in a traveling state, the correction amount set as correction information, and the time change of the deviation amount of the display position of the image (virtual object) with respect to the real scene (including the real object). When the vehicle 1 tilts and the pitch angle changes according to the traveling state of the vehicle 1 as shown in the upper part of Fig. 4, the display control unit 210 calculates the correction amount so as to reduce the deviation of the display position according to the tilt state of the vehicle 1 (cancel the pitch angle) based on the angular velocity information acquired from the attitude detection unit 316 as shown in the middle part of Fig. 4.

[0062] The dashed line shown in the middle of FIG. 4 indicates the amount of correction when the display control unit 210 determines that the turning state is the first state. On the other hand, the solid line shown in the middle of FIG. 4 indicates the amount of correction when the display control unit 210 determines that the turning state is the second state. When it can be determined that the turning state is the second state, as described in the process of S.8 in FIG. 3, a value obtained by multiplying the correction amount based on the angular velocity by 0.5 is set as the amount of correction. Therefore, the amplitude of the solid curve shown in the middle of FIG. 4 (time change in the correction amount in the second state) is half the amplitude of the dashed curve shown in the middle of FIG. 4 (time change in the correction amount in the first state).

[0063] Then, when the HUD control unit 105 corrects the display position of the image based on the correction information of the correction amount set in this way, in the first state, the amount of deviation of the display position of the image (virtual object) with respect to the real scene becomes 0 (zero), as shown by the dashed line in the lower part of Fig. 4. Here, when the amount of deviation of the display position of the image with respect to the real scene becomes 0 (zero), it means that when the tilt state of the vehicle 1 changes to a forward or backward tilt as shown in the upper part of Fig. 4, the display position of the image moves up and down in response to the change. In other words, when the real scene moves up and down relative to the windshield 2 due to a change in the forward or backward tilt of the vehicle 1, the image moves up and down to correspond to the up and down movement, and thus no deviation from the real scene occurs.

[0064] When the vehicle 1 is not turning, the driver 9 drives while visually checking the area ahead of the vehicle (more specifically, the area in front of the vehicle), so there is no misalignment between the image and the actual scene. This maintains the relative positional relationship between the image and the actual scene, so there is no risk of the driver 9 feeling uncomfortable visually.

[0065] On the other hand, when the vehicle 1 is turning, the driver 9 has a strong tendency to view the actual scenery ahead of the turn, so when the steering wheel is steered to the left, the driver 9 often views the distant left side, and when the steering wheel is steered to the right, the driver 9 often views the distant right side. When the vehicle 1 is turning in this way, if the inclination state of the vehicle 1 changes (the pitch angle changes over time), an image moving up and down is reflected in the right side of the field of vision of the driver 9 when turning left, and this image movement may cause the driver 9 to feel uncomfortable. Similarly, when the vehicle 1 is turning right, an image moving up and down is reflected in the left side of the field of vision of the driver 9, and this image movement may cause the driver 9 to feel uncomfortable.

[0066] On the other hand, when the turning state is determined to be the second state, the correction information is set based on the correction amount based on the angular velocity multiplied by 0.5 (see the solid line in the middle of FIG. 4), so that the display position of the image (virtual object) moves with a slight deviation from the real scene, as shown by the solid line in the lower part of FIG. 4. Here, the amount of movement of the image with deviation from the real scene is suppressed in the vertical movement distance (vertical movement range) compared to the amount of movement of the image with no deviation from the real scene (zero deviation). Therefore, even if the real scene moves significantly up and down relative to the windshield 2 due to a change in the forward or backward tilt of the vehicle 1, the amount of movement of the image is about half that amount, and the image moves only slightly up and down.

[0067] Therefore, even if the inclination state of the vehicle 1 changes (the pitch angle changes over time) while the vehicle 1 is turning, it is possible to suppress vertical movement of the image reflected on the side (right side or left side) of the field of vision of the driver 9. Therefore, the driver 9 performing the turning operation of the vehicle 1 does not feel a visual discomfort.

[0068] As described above, in the vehicular display system 10 in the embodiment, the display control unit 210 sets correction information in which the correction amount calculated based on the attitude information is gradually reduced as the strength of turning of the moving body (hereinafter also referred to as the turning state) becomes stronger, and adjusts the display position of the image based on the correction information gradually set according to the turning state. That is, the display control unit 210 judges whether the turning state of the vehicle 1 is the first state or the second state, and when the turning state of the vehicle 1 is the second state (when the driver 9 is directing the viewpoint to a distant position on the steering direction side of the steering wheel during the turning operation of the vehicle 1), sets the correction information based on a value obtained by multiplying the correction amount calculated based on the angular velocity information by 0.5. By setting the correction information in this way and correcting the display position of the image, it is possible to suppress the vertical movement of the image (virtual object) reflected on the side of the field of view of the driver 9 during the turning operation, and to suppress the driver 9 from feeling a visual discomfort.

[0069] In addition, in the vehicular display system 10 in some embodiments, the display control unit 210 sets correction information in which the correction amount calculated based on the attitude information is continuously reduced as the turning strength (hereinafter also referred to as the turning state) of the moving object becomes stronger, and adjusts the display position of the image based on the correction information set in stages according to the turning state. For example, the display control unit 210 may calculate a coefficient f (1 ≧ f ≧ 0) to be multiplied by the correction amount based on the turning strength (e.g., steering angle) of the moving object using the following formula 1 (not limited to this). Here, x is the steering angle. a and b are adjustment values. FIG. 6 is a diagram showing the coefficient f for the steering angle calculated using formula 1 (here, a = 0.15, b = 10).

number

[0070] Although the display system for a moving body of the present disclosure has been described in detail above with reference to the drawings, the display system for a moving body of the present disclosure is not limited to the contents described in the embodiment. For example, in the display control unit 210 of the present disclosure, when it is determined that the turning state of the vehicle 1 is the second state, the correction information is set based on a value obtained by multiplying the correction amount based on the angular velocity by 0.5. However, the correction amount of the correction information in the second state is not limited to 0.5 times the correction amount based on the angular velocity. It is sufficient that the correction amount in the second state is smaller than the correction amount in the first state by multiplying it by a coefficient less than 1. For this reason, the coefficient multiplied by the correction amount based on the angular velocity may be a value smaller than 0.5, or may be any value greater than 0.5 but less than 1.

[0071] Also, when it is determined that the vehicle is in the second state, it is possible to set the coefficient to be multiplied to 0 (zero), so that no correction of the display position of the image is performed at all. Fig. 5 is another diagram showing the change over time of the pitch angle of the vehicle 1 in a traveling state, the correction amount set as the correction information, and the amount of deviation of the display position of the image (virtual object) relative to the real scene (including the real object).

[0072] The dashed line shown in the middle of Fig. 5 indicates the amount of correction when the turning state is determined to be the first state by the display control unit 210, as in Fig. 4, and the solid line shown in the middle of Fig. 5 indicates the amount of correction when the turning state is determined to be the second state. When the display control unit 210 determines that the turning state is the second state, a value obtained by multiplying the correction amount based on the angular velocity by 0 (zero) is calculated as the amount of correction (a correction amount in which the display position of the image is not adjusted). The amplitude of the solid line shown in the middle of Fig. 5 (change in the amount of correction over time in the second state) is 0 (zero), which is clearly different from the solid line shown in the middle of Fig. 4 (change in the amount of correction over time in the second state).

[0073] When the HUD control unit 105 corrects the display position of the image based on the correction information of the correction amount calculated in this manner, in the first state, the deviation amount of the display position of the image (virtual object) with respect to the real scene becomes 0 (zero), as shown by the dashed line in the lower part of Fig. 5. When the deviation amount of the display position of the image (virtual object) with respect to the real scene becomes 0 (zero), as described in Fig. 4, the display position of the image moves frequently in response to changes in the tilt state of the vehicle 1, which may cause a visual discomfort to the driver 9 when the vehicle 1 is turning.

[0074] On the other hand, when the turning state is determined to be the second state, the correction information is set by multiplying the correction amount based on the angular velocity by 0 (zero) (see the solid line in the middle of Fig. 5), so that the amount of deviation of the image (virtual object) from the real scene increases and decreases corresponding to the increase and decrease in the pitch angle value, as shown by the solid line in the lower part of Fig. 5. However, since this change in the amount of deviation indicates a state in which the display position of the image is fixed at the reference position, when the vehicle 1 is turning, the image reflected on the side of the field of vision of the driver 9 is viewed as remaining at the reference position, and there is no risk of the driver 9 feeling visually uncomfortable.

[0075] Furthermore, in the vehicle display system 10 shown in the embodiment, the turning state of the vehicle 1 is judged in two stages, the first state and the second state, but the turning state may be judged in more stages. For example, the range of vehicle speeds (or the vehicle speeds at the boundary between the first state and the second state, the vehicle speeds at the boundary between the second state and the third state, the vehicle speeds at the boundary between the N-1 state and the N state) at which the turning state of the vehicle 1 is judged to be the first state, the second state, the third state, . . . the Nth state (where N is a natural number) based on the correspondence relationship between the steering amount of the steering wheel and the speed of the vehicle 1 may be recorded in advance in table data in association with the steering amount of the steering wheel. Here, the Nth state indicates a state in which a sudden turning operation is performed (a state in which the turning force (turning ability, turning strength) during the movement of the vehicle 1 is stronger) than the N-1 state.

[0076] When the turning state of the vehicle 1 at each stage is recorded in table data in correspondence with the steering amount of the steering wheel, the display control unit 210 may be configured to determine, based on the table data, the vehicle speed range (or the vehicle speed boundary) corresponding to each turning state from the first state to the Nth state based on the steering amount of the steering amount information acquired in the processing of S.03, and to determine which turning state from the first state to the Nth state the vehicle speed corresponds to by comparing the determined vehicle speed range (or the vehicle speed boundary) with the speed information acquired in the processing of S.02.

[0077] By setting the coefficient by which the correction amount based on the angular velocity is multiplied to a gradually decreasing value according to the determined turning state (for example, setting the coefficient to 0.9 for the second state, 0.8 for the third state, 0.1 for the tenth state, etc.), the movement state of the image display position can be changed according to the turning state of the vehicle 1, thereby reducing the visual discomfort that may be caused to the driver 9.

[0078] Also, contrary to the above, the range of steering amount of the steering wheel (or boundary steering amount / steering angle) that can be determined as state 2 to state N for each vehicle speed may be recorded in advance in table data, and based on the speed information acquired in the processing of S.02, the range of steering amount of the steering wheel (or boundary steering amount / steering angle) corresponding to each turning state from state 1 to state N may be obtained based on the table data, and by comparing each obtained range of steering amount (or boundary steering angle) with the steering amount information acquired in the processing of S.03, it may be possible to determine which turning state from state 1 to state N the vehicle speed corresponds to.

[0079] Note that N, which indicates the number of stages in the Nth state, can be set appropriately. For example, it is possible to set N=3, a medium turning state as the second state, a coefficient multiplied by the correction amount based on the angular velocity as 0.8, and a higher turning state as the third state, a coefficient multiplied by the correction amount based on the angular velocity as 0.5.

[0080] In addition, when the turning state is divided into N stages, the correction amount of the correction information set in each stage does not necessarily have to be a different value. For example, it is possible to set the correction information for a turning state of a predetermined stage or higher while maintaining the correction amount of the correction information set in the turning state one stage before the predetermined stage.

[0081] Furthermore, in the display control unit 210 in the embodiment, the relationship between the condition for changing the turning state from the first state to the second state and the condition for changing from the second state to the first state is not particularly specified. However, it is also possible to set different conditions for the condition for increasing the stage of the turning state (the condition for changing the turning state from the N-1 state to the N state) as the strength of turning during the movement of the vehicle 1 increases from a weak state to a strong state, and the condition for decreasing the stage of the turning state (the condition for changing the turning state from the N state to the N-1 state) as the strength of turning decreases from a strong state to a weak state. In this way, by setting the condition for increasing the stage of the turning state and the condition for decreasing the stage of the turning state to be different conditions, it is possible to adjust and reduce the visual discomfort that may be given to the driver 9 by the correction process of the display position of the image. In addition, it is possible to increase the flexibility of the process in the process of correcting the display position of the image.

[0082] Furthermore, it is also possible to control the brightness of the image to be changed according to the turning state of the vehicle 1 so as not to give the driver 9 a sense of incongruity when the vehicle 1 is turning. For example, the display control unit 210 may set the brightness information to be gradually lowered as the turning state of the vehicle 1 increases, and to be gradually raised as the turning state of the vehicle 1 decreases. In this way, by gradually lowering the brightness of the image as the turning state increases, the image becomes difficult to view while the vehicle 1 is turning, so that the driver 9 is less likely to be aware of the image displayed on the windshield 2 during a turning operation. This makes it possible to suppress any visual discomfort that may be given to the driver 9.

[0083] In addition, by increasing the brightness of the image step by step each time the stage number (N of the Nth state) in the turning state of the vehicle 1 decreases step by step, the image displayed superimposed on the actual scene can be made more visible as the turning operation approaches the end. Therefore, when the turning operation ends and the driver 9 is in a driving state where he / she can see the distant area in front of the vehicle 1, image information for driving assistance can be provided accurately while minimizing the movement of the driver 9's line of sight, which contributes to safe and comfortable vehicle operation.

[0084] Furthermore, in the display control unit 210 in the embodiment, the correction amount calculated in the first state is described as being calculated based on the angular velocity detected by the attitude detection unit 316, but the correction amount is not necessarily limited to being calculated based on the angular velocity. As already described, it is also possible to calculate the correction amount based on the pitch angle or the like, which is information indicating the inclination state of the vehicle 1. Similarly, the correction amount multiplied by the coefficient in the second state, ..., Nth state is also not limited to being calculated based on the angular velocity, and it is possible to use a correction amount calculated based on various information such as the pitch angle. [Explanation of symbols]

[0085] 1 ... Vehicle (moving object) 2. Windshield (display) 3. Instrument panel 9. Driver 10 ... Vehicle display system (display system for moving objects) 100 ... HUD device (display position adjustment means, brightness adjustment means) 101 ... Display (display position adjustment means, brightness adjustment means) 102...Plane mirror 103…Concave mirror 105 ... HUD control unit (display position adjustment means, brightness adjustment means) 106 ... Chassis 200 ...Display control device 210 ... Display control unit (control means) 220…Memory 230 ... I / O interface unit (turning-related information acquisition means, attitude information acquisition means) 311 ... vehicle ECU (turning information detection means) 312 ... External camera unit 313 ... Vehicle position detection unit 314 … External Communications Department 315 ... operation detection unit (turning information detection means) 316 ... attitude detection unit (turning information detection means, attitude detection means) 317 ... External sensor section 318 ... Brightness detection section 319 ... Information and communication terminals

Claims

1. A display system for a moving body that displays an image on a display unit installed in a moving direction of the moving body so as to be superimposed on an actual scene in the moving direction, a turning-related information acquiring means for acquiring turning-related information from a turning information detecting means for detecting turning-related information related to a turning state of the moving body; an attitude information acquiring means for acquiring attitude information for determining an inclination state of the moving body with respect to the traveling direction from an attitude detecting means installed in the moving body; a control means for setting correction information for correcting a display position of the image to be displayed on the display unit; a display position adjustment means for adjusting a display position of the image displayed on the display unit based on the correction information set by the control means; Equipped with The control means calculating a correction amount for correcting a display position of the image based on the orientation information acquired by the orientation information acquisition means; Based on the turning-related information acquired by the turning-related information acquisition means, the turning strength of the moving object (hereinafter also referred to as the turning state) is calculated. ) becomes stronger, the correction information is set by continuously or stepwise reducing the correction amount calculated based on the posture information, The display position adjustment means adjusts the display position of the image based on the correction information set in accordance with the turning state. A display system for a moving object, comprising:

2. the turning-related information includes at least steering amount information indicating a steering amount of a steering wheel provided on the moving body and speed information indicating a speed of the moving body, The control means determines in what stage of turning state the moving body is in based on the steering amount in the steering amount information and the speed in the speed information.

2. The display system for a moving object according to claim 1 .

3. the turning-related information includes at least angular velocity information indicating an angular velocity of the moving body in a yaw direction, The control means determines in what stage of turning state the moving body is in based on the magnitude of the angular velocity in the angular velocity information.

2. The display system for a moving object according to claim 1 .

4. When the stepped turning state is equal to or higher than a predetermined stage, the control means sets the correction information while maintaining the correction amount of the correction information set in the turning state one stage before the predetermined stage.

2. The display system for a moving object according to claim 1 .

5. The control means sets the correction information based on a correction amount by which the display position adjustment means does not adjust the display position of the image when the turning state divided into stages is equal to or greater than a predetermined stage.

2. The display system for a moving object according to claim 1 .

6. When the control means divides the turning state into stages according to the strength of turning when the moving body is moving, A condition for increasing the stage of the turning state by increasing the strength of the turning during the movement from a weak state to a strong state and a condition for decreasing the stage of the turning state by decreasing the strength of the turning during the movement from a strong state to a weak state are set to different conditions.

2. The display system for a moving object according to claim 1 .

7. a brightness adjustment unit for adjusting the brightness of the image displayed on the display unit, the control means sets brightness information in which the brightness of the image is reduced stepwise in accordance with the turning state which is divided into steps, The luminance adjustment means adjusts the luminance of the image displayed on the display unit based on the luminance information set by the control means.

2. The display system for a moving object according to claim 1 .

8. A display control device that controls a head-up display device that displays an image on a display unit installed in a traveling direction of a moving body so as to be superimposed on an actual scene in the traveling direction, A memory configured to store a plurality of instructions; and a processing circuit configured to operate when executing the instructions stored in the memory as follows: The operation includes: acquiring turning-related information from a turning information detection means for detecting turning-related information relating to a turning state of the moving body; acquiring, from an attitude detection means installed in the moving body, attitude information for determining an inclination state of the moving body with respect to the traveling direction; Calculating a correction amount for correcting a display position of the image based on the acquired posture information; Based on the acquired turning-related information, the turning strength of the moving object (hereinafter, also referred to as the turning state) is calculated. setting correction information in which the correction amount calculated based on the posture information is continuously or stepwise reduced as the difference between the detected position and the detected position becomes stronger; and adjusting a display position of the image based on the correction information set according to the turning state. Display control device.

9. the turning-related information includes at least steering amount information indicating a steering amount of a steering wheel provided on the moving body and speed information indicating a speed of the moving body, The processing circuit determines in what stage of turning state the moving body is in based on the steering amount in the steering amount information and the speed in the speed information. The display control device according to claim 8 .

10. the turning-related information includes at least angular velocity information indicating an angular velocity of the moving body in a yaw direction, The processing circuit determines in what stage of turning the moving body is based on the magnitude of the angular velocity in the angular velocity information. The display control device according to claim 8 .

11. The processing circuit sets the correction information while maintaining a correction amount of the correction information set in the turning state one step before the predetermined step when the turning state divided into steps is equal to or higher than a predetermined step. The display control device according to claim 8 .

12. The processing circuit sets the correction information based on a correction amount by which the display position adjustment means does not adjust the display position of the image when the turning state divided into stages is equal to or greater than a predetermined stage. The display control device according to claim 8 .

13. When the processing circuit classifies the turning state into stages according to the strength of turning when the moving body is moving, A condition for increasing the stage of the turning state by increasing the strength of the turning during the movement from a weak state to a strong state and a condition for decreasing the stage of the turning state by decreasing the strength of the turning during the movement from a strong state to a weak state are set to different conditions. The display control device according to claim 8 .

14. The processing circuit sets brightness information for gradually reducing the brightness of the image in accordance with the turning state divided into stages. The display control device according to claim 8 .

Images