Head-up display device, display controller and display system for vehicle

Abstract

To enable a driver as a viewer to accurately and intuitively view a course change point such as an intersection.SOLUTION: The present invention relates to a head-up display device (HUD device 100), which has: an image display part 120 which displays a first virtual image showing a movement course of a vehicle and a second virtual image showing a course direction of the vehicle when the display position changes along the first virtual image and the vehicle approaches a point where the vehicle is to change the course; and a control part 110 which performs control to display the second virtual image moved in the opposite direction from the course direction that the second virtual image shows.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 that displays the vehicle's travel route on a HUD device as a destination guide image (guide lines 20 in FIG. 2 of Patent Document 1), gradually enlarges and displays a bird's-eye view map of the area in front of the vehicle as the vehicle approaches a guide point, and when the vehicle approaches further, stops enlarging the map and displays a destination direction image (AR display 27 using arrow marks in FIG. 2 of Patent Document 1) showing the route to the guide point where the guide lines are displayed. Note that "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 AR display refers to a display form in which navigation information is displayed on actual scenery or the like to form an augmented reality that provides route guidance. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. WO2021 / 132553 Summary of the Invention

[0005] However, according to the technology described in the above-mentioned Patent Document 1, when performing route guidance, depending on the distance to a course change point such as an intersection, it is difficult to accurately and intuitively grasp the point of turning right or left, and as a result, the driver, who is the viewer, may misrecognize the course. In particular, when the vehicle enters an intersection, most of the screen is covered with an unrecognizable enlarged destination direction image (AR display with an arrow mark), and when it is displayed superimposed on the actual scene, most of the forward view is blocked, hindering the recognition of the forward view.

[0006] The present invention has been made to solve such problems, and has an object to provide a head-up display device or the like that enables the driver, who is the viewer, to accurately and intuitively visually recognize lane change points such as intersections.

[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 exemplified below.

[0009] The first aspect is a head-up display device that projects and displays a virtual image superimposed on the 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 indicating the path of movement of the vehicle and a second virtual image whose display position changes along the first virtual image and indicates the vehicle's course direction when the vehicle approaches a point where it will change course, and a control unit that controls the second virtual image to be moved in the opposite direction to the course direction indicated by the second virtual image when the vehicle enters the point where it will change course.

[0010] Here, the "first virtual image" refers to a route image Gu1 that has a bend be near a course change point such as an intersection through which the vehicle passes, and is composed of an arrow shaft (shaft s) portion extending toward the bend be and an arrowhead (arrowhead ah) portion indicating the direction of travel of the vehicle, and is displayed superimposed on the road surface, as shown in FIG. 4(a)(b). The arrowhead (arrowhead ah) portion is not essential. The "second virtual image" refers to an AR image Gu2 that changes its display position along the first virtual image (route image Gu1) as the vehicle moves, as shown in FIG. 4(a)(b), and that is displayed stagnantly near the bend be of the first virtual image (route image) when the vehicle approaches a course change point such as an intersection. In addition, the AR image Gu2 consists of one or more arrowhead elements (the pointed triangular part of the arrowhead ah) that are visually perceived as floating above the road surface near the bend point be of the route image Gu1 (a lane change point such as an intersection), as shown in Figure 4(b).

[0011] In addition, the "course change point" refers to a right or left turn point such as an intersection, a T-junction, or a curve that the vehicle passes through when traveling toward the destination. In addition, "the vehicle approaches the course change point" refers to a case where the distance to the course change point reaches a threshold, and "the second virtual image is moved and displayed in a direction opposite to the course direction indicated by the second virtual image" refers to, for example, performing a moving image display (sequence display) in which the second virtual image (arrowhead ah) is moved in the left-right direction (horizontal angle of view) in the opposite direction (X direction) to the traveling direction of the vehicle indicated by the second virtual image (arrowhead ah) at a preset speed (position change according to time) without changing the positional relationship in the front-rear direction (vertical angle of view) when the vehicle enters an intersection, etc., as shown in Figures 6A and 6B.

[0012] According to the first aspect, when the vehicle enters a point where a lane change is to be made, the control unit controls the second virtual image to be moved in a direction opposite to the lane direction indicated by the second virtual image and displayed on the image display unit. Therefore, for example, when the vehicle enters an intersection or the like, a moving image is displayed in which the second virtual image is retreated (moved) in the left-right direction (horizontal angle of view) in the direction opposite to the traveling direction of the vehicle at, for example, a preset speed (position change according to time), so that the driver, who is the viewer, can accurately and intuitively view the lane change point at the intersection or the like.

[0013] In a second aspect dependent on the first aspect, the control unit may perform control to display the first virtual image superimposed on the road surface which is the foreground, and to display the second virtual image so that it is perceived as floating vertically along the road surface.

[0014] According to the second aspect, the control unit displays the first virtual image superimposed on the foreground, thereby realizing a display with enhanced affinity that gives a sense of unity between the direction in which the vehicle should turn and the actual scene. In addition, the control unit displays the second virtual image as if it is floating vertically along the road surface, thereby effectively communicating the direction and point at which the vehicle should turn. The first virtual image displayed superimposed on the road surface and the second virtual image displayed as if it is floating vertically along the road surface act synergistically to allow the viewer, the driver, to more accurately and intuitively view lane change points such as intersections.

[0015] In a third aspect dependent on the first or second aspect, the control unit may, when a distance to a point where the vehicle will change course is within a predetermined distance range, display the second virtual image by halting it near a bend point of the first virtual image that has a maximum curvature at any point where the vehicle will change course, and when the vehicle enters the point where the vehicle will change course, control the second virtual image by moving it in a direction opposite to the course direction indicated by the second virtual image.

[0016] According to the third aspect, the control unit displays the second virtual image by stopping it near the bend point of the first virtual image if the distance to the point where the vehicle changes course is within a predetermined distance range, and when the vehicle approaches an arbitrary point where the vehicle changes course, moves the second virtual image in a direction opposite to the course direction indicated by the second virtual image. In this way, by displaying the second virtual image in a different display mode depending on the distance to the point where the vehicle changes course, and particularly by controlling the second virtual image to be moved in a direction opposite to the course direction indicated by the second virtual image when the vehicle approaches an arbitrary point where the vehicle changes course, the driver, who is the viewer, can intuitively grasp the direction to go, and can also intuitively and more easily recognize the distance between the bend point of the first virtual image (a course change point such as an intersection).

[0017] In a fourth aspect which is dependent on the first to third aspects, the control unit may perform control so that the size of the second virtual image is smaller than the size of the first virtual image in both the vertical and horizontal angles of view of the display area, and the size of the second virtual image is changed depending on the distance to an arbitrary point where the lane change is to be performed.

[0018] According to the fourth aspect, the control unit controls the size of the second virtual image to be smaller than that of the first virtual image in both the vertical and horizontal angles of view of the display area, and changes the size of the second virtual image according to the distance to an arbitrary point where a lane change is to be made. In this way, the control unit displays the second virtual image in a size smaller than that of the first virtual image, thereby synergistically presenting the vehicle's lane direction to the driver, who is the viewer. As a result, the driver, who is the viewer, can perceive the distance to the lane change point relatively from the display positions of the first virtual image and the second virtual image indicating the same lane change point, and can more accurately and intuitively recognize the distance from the vehicle to the lane change point.

[0019] A fifth aspect is a display control device having a processing device that controls a head-up display device 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 a vehicle, wherein the processing device controls the head-up display device to display a first virtual image indicating a path of movement of the vehicle and a second virtual image whose display position changes along the first virtual image and indicates the direction of travel of the vehicle when the vehicle approaches a point where it will make a lane change, and controls the second virtual image to be moved in the opposite direction to the direction of travel indicated by the second virtual image when the vehicle enters the point where it will make the lane change and displayed on the head-up display device.

[0020] According to the fifth aspect, when the vehicle enters a point where a lane change is to be made, the processing device controls the second virtual image to be moved in a direction opposite to the lane direction indicated by the second virtual image and displayed on the head-up display device. Therefore, for example, when the vehicle enters an intersection or the like, a moving image is displayed in which the second virtual image is retreated (moved) in the left and right directions (horizontal angle of view) in the direction opposite to the traveling direction of the vehicle at, for example, a preset speed (position change according to time), thereby providing a display control device capable of allowing the driver, who is the viewer, to accurately and intuitively view the lane change point at an intersection or the like.

[0021] A sixth aspect is a display system for a vehicle having 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 the vehicle, and a display control device that controls the head-up display device, wherein the display control device controls the head-up display device to display a first virtual image indicating a path of travel of the vehicle and a second virtual image whose display position changes along the first virtual image and indicates the vehicle's direction of travel when the vehicle approaches a point where it will change course, and controls the second virtual image to be moved in the opposite direction to the direction of travel indicated by the second virtual image when the vehicle enters the point where it will change course and displayed on the head-up display device.

[0022] According to the sixth aspect, when the vehicle enters a point where a lane change is to be made, the display control device controls the second virtual image to be moved in a direction opposite to the lane direction indicated by the second virtual image and displayed on the head-up display device. For this reason, for example, when the vehicle enters an intersection or the like, a moving image is displayed in which the second virtual image is retreated (moved) in the left and right directions (horizontal angle of view) in the direction opposite to the traveling direction of the vehicle at, for example, a preset speed (position change according to time), thereby providing a vehicular display system that allows the driver, who is the viewer, to accurately and intuitively visually recognize the lane change point at an intersection or the like.

[0023] 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]

[0024] [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 the operation of the head-up display device according to the embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing an example of the screen configuration of a head-up display device of an embodiment of the present invention, in which FIG. 4(a) shows a route image (first virtual image) and an AR image (second virtual image) displayed stationary near a bend point of the route image, and FIG. 4(b) shows an overhead view of the route image (first virtual image) and the AR image (second virtual image) in this case. [Diagram 5] FIG. 5 is a diagram showing an example of the screen configuration of a head-up display device of an embodiment of the present invention, and is a bird's-eye view of an AR image (second virtual image) that is displayed by moving in the opposite direction to the vehicle's travel direction when the vehicle enters an intersection. [Figure 6A] FIG. 6A is a diagram showing an example of the screen configuration of a head-up display device of an embodiment of the present invention, and shows the display form of a route image (first virtual image) and an AR image (second virtual image) when the distance to the point where the vehicle will change course is within a predetermined distance range. [Figure 6B] Figure 6B is a diagram showing another example of the screen configuration of a head-up display device of an embodiment of the present invention, and shows the display form of a route image (first virtual image) and an AR image (second virtual image) when a vehicle enters a lane change point. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] 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).

[0026] 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.

[0027] (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.

[0028] 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).

[0029] 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.

[0030] 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).

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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 the interface with the navigation device 400 connected to the I / O interface 500 or various sensors 401 to 404, and can also perform control to display a first virtual image (see Gu1 in Figs. 4(a) and (b) described later) superimposed on the road surface on the HUD device 100, and a display position that changes according to the first virtual image Gu1, and when the vehicle 1 enters a point where a course change is required, such as an intersection, a second virtual image (see Gu2 in Figs. 4(a) and (b) described later) is moved in a direction opposite to the course direction of the intersection, etc., indicated by the second virtual image Gu2. Details will be described later.

[0041] Here, the "first virtual image" refers to a route image Gu1 that is displayed superimposed on the road surface, and that has a bend be near a course change point such as an intersection through which the vehicle 1 passes, and is composed of an arrow shaft (s) portion extending toward the bend be and an arrowhead (ah) portion indicating the traveling direction of the vehicle 1, as shown in FIG. 4(a)(b). Note that the arrowhead portion is not essential in the route image Gu1 (first virtual image). The "second virtual image" refers to an AR image Gu2 that changes its display position along the route image Gu1 (first virtual image) and is displayed stagnantly near the bend be of the route image Gu1 (first virtual image) when the vehicle 1 approaches a course change point such as an intersection, as shown in FIG. 4(a)(b). The AR image Gu2 is made up of one or more arrowhead elements (arrowheads ah) that are visually recognized as floating above the road surface in the vicinity of a bend point be on the route image Gu1 (a lane change point such as an intersection).

[0042] In addition, the "course change point" refers to a right or left turn point such as an intersection, a T-junction, or a curve that the vehicle 1 passes through when traveling toward the destination. In addition, "the vehicle approaches a course change point" refers to a case where the distance to the course change point reaches a threshold, and "the second virtual image is moved and displayed in a direction opposite to the course direction indicated by the second virtual image" refers to, for example, performing a moving image display (sequence display) in which, when the vehicle 1 enters an intersection or the like, the arrowhead ah portion of the AR image (second virtual image) is moved (moved) in the left-right direction (horizontal angle of view) in accordance with the rotation of the vehicle without changing the positional relationship in the front-rear direction (vertical angle of view) at a preset speed (position change according to time) in the opposite direction (arrow X direction) to the traveling direction of the vehicle 1 indicated by the arrowhead ah portion of the AR image (second virtual image) as shown in FIG. 6A and FIG. 6B.

[0043] 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.

[0044] The control unit 110 can perform control to move and display the route image Gu1 (second virtual image) in the opposite direction to the direction of travel indicated by the AR image (second virtual image) when the vehicle 1 enters a point such as an intersection where the course change is required. For example, when the vehicle 1 enters an intersection, a moving image is displayed in which the image is retreated (moved) in the left-right direction (horizontal angle of view) in the opposite direction to the traveling direction of the vehicle 1 at a preset speed (position change according to time) in accordance with the rotation of the vehicle 1, thereby allowing the driver, who is the viewer, to accurately and intuitively view the course change point such as an intersection.

[0045] Furthermore, the control unit 110 can perform control to display the route image Gu1 (first virtual image) superimposed on the road surface in the foreground, and display the AR image (second virtual image) so that it is visually perceived as floating vertically along the road surface. This makes it possible to realize a display with enhanced affinity that gives a sense of unity between the direction in which the vehicle 1 should turn and the actual scene, and the route image Gu1 (first virtual image) superimposed on the road surface and the AR image Gu2 (second virtual image) displayed as if it is floating vertically along the road surface act synergistically to enable the driver 4, who is the viewer, to visually recognize lane change points such as intersections more accurately and intuitively.

[0046] In addition, when the distance to a point where vehicle 1 changes course, such as an intersection, is within a predetermined distance range, the control unit 110 can control the display of the AR image Gu2 (second virtual image) to be stationary near the bend point be of the route image Gu1 (first virtual image) which has the maximum curvature at any point where the course is changed, and when vehicle 1 enters any point where the course is changed, such as an intersection, the control unit 110 can control the display of the AR image (second virtual image) to be moved in the opposite direction to the course direction indicated by the AR image Gu2 (second virtual image). In this way, by displaying in different display modes depending on the distance to the point where vehicle 1 changes course, and particularly by controlling the display of AR image Gu2 (second virtual image) to move in the opposite direction to the course direction indicated by the AR image Gu2 (second virtual image) when vehicle 1 approaches any point where vehicle 1 changes course, the driver 4, who is the viewer, can intuitively grasp the direction in which to proceed, and can also intuitively and more clearly recognize the distance between the bend point be (course change point such as an intersection) of the route image Gu1 (first virtual image).

[0047] The control unit 110 can also perform control to change and display the size of the AR image (second virtual image) so that both the vertical and horizontal angles of view of the display area VA are smaller than the size of the route image Gu1 (first virtual image), and the size of the AR image Gu2 (second virtual image) is changed according to the distance to an arbitrary point where a course change is made, such as an intersection. In this way, by displaying the AR image Gu2 (second virtual image) in a size smaller than the route image Gu1 (first virtual image), the course direction of the vehicle 1 can be presented synergistically to the viewer, the driver 4, and as a result, the viewer, the driver 4, can perceive the distance to the course change point relatively from the display position of the route image Gu1 (first virtual image) and the AR image Gu2 (second virtual image) showing the same course change point.

[0048] In order to perform the above-mentioned control, 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 root image Gu1 (first virtual image) and the AR image Gu2 (second virtual image) generated by the processor 200 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 each of 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.

[0049] The image display unit 120 is controlled by the control unit 110 described above, and the image display unit 120 displays, for example, as shown in Figures 4(a) and (b), a route image Gu1 having a bend point be near a course change point such as an intersection through which the vehicle 1 passes, and consisting of an arrow shaft portion extending toward the bend point be and an arrowhead portion indicating the direction of travel of the vehicle 1, and displayed superimposed on the road surface, and an AR image Gu2 (second virtual image) whose display position changes along the route image Gu1 (first virtual image) as the vehicle 1 moves, and which is displayed stagnantly near the bend point be of the route image Gu1 (first virtual image) when the vehicle 1 approaches a course change point such as an intersection.

[0050] Here, a supplementary explanation will be given regarding the AR image Gu2. The AR image Gu2 (second virtual image) displayed by the HUD device 100 of this embodiment is a mark indicating the course direction of the vehicle 1 displayed in association with the route image Gu1 within the field of view FV (see FIG. 1) of the HUD device 100 of this embodiment, and this mark is composed of only one or more arrowheads (ah) positioned perpendicularly to the road surface and displayed at a course change point such as an intersection. The mark indicates the travel direction of the vehicle 1, and is displayed relatively small when the vehicle 1 is away from the course change point, and relatively large when the vehicle 1 approaches the course change point. Compared to an AR image expressed by a normal arrow image, the arrow shaft (s) is not required, so the display area occupying the angle of view of the HUD device 100 is reduced, and therefore visibility can be improved without obstructing the forward visibility.

[0051] Returning to Fig. 2 for the explanation, 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 through 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.

[0052] 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).

[0053] 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.

[0054] In addition to the above-mentioned behavior sensor 401, the vehicular display system 1000 has a camera 402 that recognizes the surrounding driving environment including the front of the vehicle 1, a LiDAR 403, and an eye position sensor 404. The camera 402 captures at least the front field of view (actual scene) of the vehicle 1, and the LiDAR 403 uses near-infrared light, visible light, or ultraviolet light to irradiate light onto, for example, an obstacle or the like present in front of the vehicle 1 captured by the camera 402, captures the reflected light with an optical sensor, and determines the distance to the obstacle based on the time difference.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] (Operation of the embodiment) FIG. 3 is a flowchart showing the operation of the HUD device 100 of this embodiment. FIG. 4 is a diagram showing an example of the screen configuration of the HUD device 100 of this embodiment, in which FIG. 4(a) shows a route image (first virtual image) and an AR image (second virtual image) that is displayed while stagnating near a bending point of the route image, and FIG. 4(b) shows a diagram of the route image (first virtual image) and the AR image (second virtual image) in that case viewed from above. FIG. 5 is a diagram showing an example of the screen configuration of the HUD device 100 of this embodiment, showing a diagram of the AR image (second virtual image) that is displayed while moving in the opposite direction to the course direction when the vehicle 1 enters an intersection viewed from above.

[0059] Hereinafter, the operation of the vehicular display system 1000 shown in FIG. 2, mainly the operation of the HUD device 100 of this embodiment, will be described in detail with reference to FIGS.

[0060] 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.

[0061] The HUD device 100 (control unit 110) monitors whether or not the navigation device 400 has searched for a guided route (step ST101), and if a guided route has been searched for (step ST101 “YES”), displays a map in the form of a bird's-eye view at a predetermined scale (a scale set by default) on the image display unit 120 (step ST102). Next, when the vehicle 1 moves according to the guided route determined by the navigation device 400 and approaches a course change point such as an intersection, the control unit 110 compares the remaining distance to the intersection with a display switching threshold A (step ST103). Here, the “display switching threshold A” indicates the remaining distance when the display is switched from a map display at a predetermined scale to a screen that displays a route image Gu1 (first virtual image) enlarged in the vicinity of the course change point, as shown in, for example, FIG. 4(a)(b), and refers to, for example, a point 500 m before a course change point such as a preset intersection.

[0062] When the remaining distance to a course change point such as an intersection becomes equal to or less than the display switching threshold A (step ST103 "YES"), the control unit 110 enlarges the scale of the map displayed on the image display unit 120, and enlarges and displays the course change point such as an intersection together with the surrounding map on the image display unit 120. At the same time, the control unit 110 also performs control to display the route image Gu1 (first virtual image) superimposed on the road surface (step ST104). The route image Gu1 (first virtual image) displayed at this time has a bending point be in the vicinity of the course change point of the vehicle 1, as shown in FIG. 4 (a) (b), and is composed of an arrow shaft (s) part extending toward the bending point be, and an arrowhead (ah) part indicating the traveling direction of the vehicle 1, which is connected to the end (upper part of the screen) of the arrow shaft (s) part via the bending point be, and is displayed superimposed on the road surface.

[0063] In addition, in step ST103, if the remaining distance to the course change point such as an intersection is greater than or equal to the display switching threshold A (step ST103 "NO"), the control unit 110 repeatedly executes the processing of step ST102 until the remaining distance to the course change point such as an intersection reaches the display switching threshold A.

[0064] Next, the control unit 110 compares the remaining distance to the lane change point such as an intersection with the display switching threshold B (step ST105). Here, the display switching threshold B is a threshold when the vehicle 1 further approaches the lane change point such as an intersection, and refers to within a predetermined distance range such as 300 m. When the remaining distance to the lane change point such as an intersection becomes equal to or less than the display switching threshold B with further movement of the vehicle 1 (step ST105 "YES"), the control unit 110 performs control to display the AR image Gu2 (second virtual image) by halting it near the route image Gu1 (first virtual image) (step ST106). In step ST106, the display position of the AR image Gu2 (second virtual image) changes along the outer edge of the route image Gu1 (first virtual image), and when the vehicle 1 approaches the lane change point such as an intersection (approaching within a predetermined distance range), for example, as shown in FIG. 4(a)(b), the AR image Gu2 (second virtual image) is displayed by halting it near the bend point be of the route image Gu1. Note that the vicinity of the bend point be on the route image Gu1 cannot be uniquely defined because it depends on the angle of view of the HUD device 100, but it refers to a distance of 30 m from the current position of the vehicle 1 before the bend point, for example.

[0065] On the other hand, when the remaining distance to the intersection reaches the display switching threshold B (step ST105 "NO") and the vehicle 1 enters a lane change point such as an intersection (step ST107 "YES"), for example, as shown in FIG. 5, the control unit 110 retreats the AR image Gu2 (second virtual image), in other words, moves the AR image Gu2 (second virtual image) in the opposite direction to the lane direction indicated by the arrowhead ah portion of the AR image Gu2 (second virtual image) and displays it (step ST108). Specifically, for example, as shown in FIG. 6B, when the vehicle 1 enters a lane change point such as an intersection, the control unit 110 performs a moving image display (sequence display) in which the AR image Gu2 (second virtual image) retreats (moves) at a preset speed (position change according to time) in the opposite direction (arrow X direction) to the traveling direction of the vehicle 1 indicated by the AR image Gu2 (second virtual image) in the left-right direction (horizontal angle of view) in accordance with the rotation of the vehicle 1, without changing the positional relationship in the forward-backward direction (vertical angle of view).

[0066] Whether the vehicle 1 has entered a course change point such as an intersection can be determined from, for example, the position information of the vehicle 1 measured by a GPS built into the navigation device 400 and map information. If it is determined in step ST107 that the vehicle has not entered an intersection (step ST107 "NO"), the control unit 110 returns to the processing of step ST105 and subsequent steps.

[0067] In the process of step ST108, the control unit 110 may change the speed at which the AR image Gu2 (second virtual image) moves in accordance with the traveling speed of the vehicle 1. In addition, when the route image Gu1 (first virtual image) displayed superimposed on the road surface is moved in accordance with the progress status of the vehicle 1 at the intersection (entering the intersection, rotating operation for lane change, deceleration for rotating, acceleration with the end of rotating operation, etc.) so that the driver 4, who is the viewer, perceives that the progress status is linked (by controlling the display speed or accelerating and decelerating the movement of the route image Gu1 (first virtual image)), the AR image Gu2 (second virtual image) and the route image Gu1 (first virtual image) may be moved while maintaining the positional relationship. By these controls, the display of the AR image Gu2 (second virtual image) can be made to move in accordance with the traveling status of the vehicle 1 at the lane change point such as an intersection, so that the driver 4, who is the viewer, can visually recognize the lane change point such as an intersection more accurately and more intuitively.

[0068] The control unit 110 may also display the AR image Gu2 as a figure imitating an arrow indicating the left-right direction (horizontal angle of view) or as parts consisting of several figures, and may display at least a part of the figure by blinking or the like on the image display unit 120. Depending on the distance between the vehicle 1 and a lane change point such as an intersection, the control unit 110 may also control the number of pointed triangular parts of the arrowhead ah of the AR image Gu2 (second virtual image) to be increased or decreased, or may control the size to be gradually increased, or may further control the attenuation of at least one of the brightness, contrast, and transparency.

[0069] 6A and 6B show an example of the screen configuration of the HUD device 100 of this embodiment. FIG. 6A shows an example of the display form of the route image Gu1 (first virtual image) and the AR image Gu2 (second virtual image) when the distance to the point where the lane change is performed is within a predetermined distance range, (a) shows the state where the vehicle 1 approaches the intersection, and (b) shows the display form on the image display unit 120 at that time. FIG. 6B shows an example of the display form of the route image Gu1 (first virtual image) and the AR image Gu2 (second virtual image) when the vehicle 1 enters the intersection, (a) shows the state where the vehicle 1 enters the intersection, and (b) shows the display form on the image display unit 120 at that time. In both FIG. 6A and FIG. 6B, in (a), R indicates a road near the intersection, CR indicates the vehicle 1, and the rectangular area Gu2v surrounded by a dashed line indicates the position of the AR image Gu2 (second virtual image) in the virtual space.

[0070] As shown in (a) of FIG. 6A, in a situation where the vehicle 1 is approaching a course change point such as an intersection (below the display switching threshold B of step ST105 “YES” in FIG. 3), the AR image Gu2 (second virtual image) is displayed so as to stay near the route image Gu1 (first virtual image) as shown in (b) of FIG. 6A. Note that the vicinity of the bend point be of the route image Gu1 (first virtual image) cannot be uniquely defined because it is determined depending on the angle of view of the HUD device 100, but it refers to a distance of 30 m from the current position of the vehicle 1 to the bend point, for example. In a situation where the vehicle 1 is approaching further a course change point such as an intersection and the remaining distance is within a predetermined distance range, the image display unit 120 is controlled to display the route image Gu1 (first virtual image) and the AR image Gu2 (second virtual image) while maintaining their positional relationship. In other words, the control unit 110 fixes the position Gu2v of the AR arrow in the virtual space, and changes the viewpoint in the virtual space based on the position, direction (posture), etc. of the vehicle 1 to display the AR image Gu2 (second virtual image).

[0071] On the other hand, as shown in (a) of Fig. 6B, when the vehicle 1 (CR) enters a course change point such as an intersection, as shown in (b) of Fig. 6B, the arrowhead ah of the AR image Gu2 (second virtual image) moves in the left-right direction (horizontal angle of view) in the opposite direction (arrow X direction) to the traveling direction of the vehicle 1 indicated by the arrowhead ah of the AR image Gu2 (second virtual image) in accordance with the rotation of the vehicle 1 without changing the positional relationship in the front-rear direction (vertical angle of view), at a preset speed (position change according to time) to perform a moving image display (sequence display). Note that the position Gu2v in the virtual space of the AR image Gu2 indicated by the rectangle surrounded by a dashed line moves further in the direction of the arrow X shown in (a) of Fig. 6B when the vehicle 1 (CR) rotates further.

[0072] In this way, when the vehicle 1 (CR) enters a point where it needs to change course, such as an intersection, the control unit 110 controls the image display unit 120 to display a video of the vehicle 1 (CR) retreating (moving) at a preset speed (position change according to time) in the opposite direction to the traveling direction of the vehicle 1 (CR) (X direction in Figures 6B (a) and (b)) in the left and right directions (horizontal angle of view) in accordance with the rotation of the vehicle 1 (CR), thereby allowing the driver, who is the viewer, to accurately and intuitively visually recognize the course change point.

[0073] (Modification) According to the above-mentioned vehicular display system 1000, the HUD device 100 (control unit 110) controls the AR image Gu2 (second virtual image) to be moved in the opposite direction to the route direction indicated by the AR image Gu2 (second virtual image) and displayed on the image display unit 120 when the vehicle 1 enters a point where the vehicle 1 changes course. In contrast, the HUD device 100 may be regarded simply as a display device, and the display control device 300 (processing device 200 in FIG. 2) may control the AR image Gu2 (second virtual image) to be moved in the opposite direction to the route direction indicated by the AR image Gu2 (second virtual image) and displayed on the HUD device 100 (image display unit 120) when the vehicle 1 enters a point where the vehicle 1 changes course. In other words, the processing device 200 of the display control device 300 can independently execute the above-mentioned series of controls. In this case, the processing load of the HUD device 100 (control unit 110) can be reduced.

[0074] (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 displays a virtual image V by projecting it onto a foreground in a display area VA that is an image formation surface virtually set in front of the vehicle 1, as shown in Fig. 1. The HUD device 100 has an image display unit 120 that displays a first virtual image (see route image Gu1 in Figs. 4(a) and (b)) indicating a moving route of the vehicle 1, a second virtual image (see AR image Gu2 in Figs. 4(a) and (b)) that changes its display position along the first virtual image and indicates the moving direction of the vehicle 1 when the vehicle 1 approaches a point where the vehicle 1 changes course, and a control unit 110 that controls the second virtual image to be moved in a direction opposite to the moving direction indicated by the second virtual image (see arrow X in Figs. 6A and 6B) when the vehicle 1 enters a point where the vehicle 1 changes course.

[0075] According to the HUD device 100 of this embodiment, when the vehicle 1 enters a point where it needs to change course, the control unit 110 controls the AR image Gu2 (second virtual image) to be moved in the opposite direction to the course direction indicated by the AR image Gu2 (second virtual image) and displayed on the image display unit 120. Therefore, for example, when the vehicle 1 enters an intersection or the like, a video display is performed in which the AR image Gu2 (second virtual image) is retreated (moved) in the left and right directions (horizontal angle of view) in accordance with the rotation of the vehicle 1 in the opposite direction to the traveling direction of the vehicle 1, for example at a preset speed (position change according to time), thereby allowing the driver, who is the viewer, to accurately and intuitively visually recognize the course change point at an intersection or the like.

[0076] Furthermore, in the HUD device 100 of this embodiment, the control unit 110 may perform control to display a route image Gu1 (first virtual image) superimposed on the road surface in the foreground, and display an AR image Gu1 (second virtual image) so that it is perceived as floating vertically along the road surface, as shown in, for example, Figures 4(a) and (b).

[0077] According to the HUD device 100 of this embodiment, the control unit 110 displays the route image Gu1 (first virtual image) superimposed on the foreground, thereby realizing a display with enhanced affinity that gives a sense of unity between the direction in which the vehicle 1 should turn and the actual scene. In addition, the control unit 110 displays the AR image Gu2 (second virtual image) as if it were floating vertically along the road surface, thereby effectively communicating the direction and point at which the vehicle should turn. The route image Gu1 (first virtual image) displayed superimposed on the road surface and the AR image (second virtual image) displayed as if it were floating vertically along the road surface act synergistically to enable the viewer, the driver, to more accurately and intuitively visually recognize lane change points such as intersections.

[0078] Furthermore, in the HUD device 100 of this embodiment, when the distance to the point where the vehicle 1 changes course is within a predetermined distance range (step ST105 "YES"), for example, as shown in FIG. 3, the control unit 110 may perform control (step ST106) to display the AR image Gu2 (second virtual image) by halting it near the bend point be of the route image Gu1 (first virtual image) which has the maximum curvature at any point where the vehicle 1 changes course, as shown in FIG. 5, and when the vehicle 1 enters the any point where the vehicle 1 changes course (step ST107 "YES"), to move the AR image Gu2 (second virtual image) in the opposite direction to the course direction indicated by the AR image Gu2 (second virtual image) and display it (step ST108).

[0079] According to the HUD device 100 of this embodiment, the control unit 110 displays the AR image Gu2 (second virtual image) by suspending it near the bend point be of the route image Gu1 (first virtual image) if the distance to the point where the vehicle 1 will change course is within a predetermined distance range, and when the vehicle enters any point where the vehicle 1 will change course, displays the AR image Gu2 (second virtual image) by moving it in the opposite direction to the course direction indicated by the AR image Gu2 (second virtual image). In this way, by displaying in different display modes depending on the distance to the point where vehicle 1 changes course, and particularly by controlling the display of AR image Gu2 (second virtual image) to move in the opposite direction to the course direction indicated by AR image Gu2 (second virtual image) when vehicle 1 approaches any point where vehicle 1 changes course, the driver, who is the viewer, can intuitively grasp the direction in which to proceed, and can also intuitively and more clearly recognize the distance between the bend point (course change point such as an intersection) of route image Gu1 (first virtual image).

[0080] Furthermore, in the HUD device 100 of this embodiment, the control unit 110 may perform control so that the size of the virtual image of the AR image Gu2 (second) is smaller than the size of the route image Gu1 (first virtual image) in both the vertical and horizontal angles of view of the display area VA, and the size of the AR image Gu2 (second virtual image) is changed and displayed depending on the distance to any point where a lane change is to be made.

[0081] According to the HUD device 100 of this embodiment, the control unit 110 controls the size of the AR image Gu2 (second virtual image) to be smaller than the size of the route image Gu1 (first virtual image) in both the vertical and horizontal angles of view of the display area VA, and changes the size of the AR image Gu2 (second virtual image) according to the distance to an arbitrary point where a course change is to be made. In this way, the control unit 110 displays the AR image Gu2 (second virtual image) in a size smaller than the route image Gu1 (first virtual image), thereby synergistically presenting the course direction of the vehicle 1 to the driver, who is the viewer. As a result, the driver, who is the viewer, can perceive the distance to the course change point relatively from the display positions of the route image Gu1 (first virtual image) and the AR image Gu2 (second virtual image) showing the same course change point, and can more accurately and intuitively recognize the distance from the vehicle 1 to the course change point.

[0082] The display control device of the present embodiment is a display control device 300 having a processing device 200 that controls a head-up display device (HUD device 100) that displays a virtual image V superimposed on a foreground in a display area VA that is an image formation surface virtually set in front of the vehicle 1, as shown in Fig. 1 and Fig. 2. The processing device 200 controls the head-up display device (HUD device 100) to display a first virtual image (for example, see the route image Gu1 shown in Fig. 4(a)(b)) indicating the moving route of the vehicle 1 and a second virtual image (for example, see the AR image Gu2 shown in Fig. 4(a)(b)) indicating the moving direction of the vehicle 1 when the display position changes along the first virtual image and the vehicle 1 approaches a point where the vehicle 1 changes course, and controls the head-up display device (HUD device 100) to move the second virtual image (AR image Gu2) in the opposite direction to the moving direction indicated by the second virtual image when the vehicle 1 enters the point where the vehicle 1 changes course.

[0083] According to the display control device 300 of this embodiment, when the vehicle 1 enters a point where a lane change is to be made, the processing device 200 performs control to move the second virtual image (AR image Gu2) in a direction opposite to the lane direction indicated by the second virtual image and display it on the HUD device 100. For this reason, for example, when the vehicle 1 enters an intersection or the like, a moving image is displayed in which the image is retreated (moved) in the left-right direction (horizontal angle of view) in the direction opposite to the traveling direction of the vehicle in accordance with the rotation of the vehicle 1 at, for example, a preset speed (position change according to time), thereby providing a display control device 300 that allows the driver, who is the viewer, to accurately and intuitively visually recognize the lane change point at an intersection or the like.

[0084] Furthermore, the vehicular display system of this embodiment is, for example, a vehicular display system 1000 having a head-up display device (HUD device 100) that projects and displays a virtual image V superimposed on the foreground in a display area VA, which is an imaging surface virtually set in front of the vehicle 1, as shown in Figures 1 and 2, and a display control device 300 that controls the head-up display device. The display control device 300 controls the display of a first virtual image (e.g., see route image Gu1 in Figures 4(a) and (b)) indicating the travel path of the vehicle 1 and a second virtual image (e.g., see AR image Gu2 in Figures 4(a) and (b)) whose display position changes along the first virtual image and indicates the route direction of the vehicle 1 when the vehicle 1 approaches a point where it will change course, on the head-up display device (HUD device 100).When the vehicle 1 enters a point where it will change course, the display control device 300 controls the display of the second virtual image (AR image Gu2) on the head-up display device (HUD device 100) by moving it in the opposite direction to the route direction indicated by the second virtual image.

[0085] According to the vehicular display system 1000 of this embodiment, when the vehicle 1 enters a point where the vehicle 1 changes course, the display control device 300 controls the second virtual image (AR image Gu2) to be moved in the opposite direction to the course direction indicated by the second virtual image and displayed on the head-up display device (HUD device 100). For this reason, for example, when the vehicle 1 enters a course change point such as an intersection, a moving image is displayed in which the image is retreated (moved) in the left-right direction (horizontal angle of view) in the opposite direction to the traveling direction of the vehicle 1 at a preset speed (position change according to time) in accordance with the rotation of the vehicle 1, thereby providing the vehicular display system 1000 that allows the driver, who is the viewer, to accurately and intuitively view the course change point such as an intersection.

[0086] 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]

[0087] 100 Head-up display device (HUD device), 110 Control unit, 120 Image display unit, 121 Liquid crystal display, 122 Relay optical system, 200 Processing unit (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 Route image (first virtual image), Gu2 AR image (second virtual image), s Arrow shaft portion of route image, be Bend point of route image, ah Arrow head portion of route image, Gu2v Position of AR image in virtual space

Claims

1. A head-up display device that projects and displays a virtual image onto a foreground in a display area that is an image forming surface virtually set in front of a vehicle, an image display unit that displays a first virtual image indicating a moving route of the vehicle and a second virtual image whose display position changes along the first virtual image and indicates a course direction of the vehicle when the vehicle approaches a point where the vehicle will change course; a control unit that performs control to move and display the second virtual image in a direction opposite to the course direction indicated by the second virtual image when the vehicle enters the point at which the course change is to be performed; A head-up display device having the following:

2. The control unit is 2. The head-up display device according to claim 1, wherein the first virtual image is displayed superimposed on the road surface in the foreground, and the second virtual image is displayed so as to be perceived as floating vertically along the road surface.

3. The control unit is 2. The head-up display device according to claim 1, wherein, when the distance to a point where the vehicle will change course is within a predetermined distance range, the second virtual image is displayed by being stationary near a bend point of the first virtual image which has a maximum curvature at any point where the vehicle will change course, and when the vehicle enters the arbitrary point where the vehicle will change course, the second virtual image is displayed by being moved in a direction opposite to the course direction indicated by the second virtual image.

4. The control unit is A head-up display device as described in any one of claims 1 to 3, wherein the size of the second virtual image is smaller than the size of the first virtual image in both the vertical and horizontal angles of view of the display area, and the size of the second virtual image is changed and displayed depending on the distance to an arbitrary point where the lane change is to be performed.

5. A display control device having a processing device that controls a head-up display device that displays a virtual image by superimposing it on a foreground in a display area that is an image formation surface virtually set in front of a vehicle, The processing device includes: control to display, on the head-up display device, a first virtual image indicating a moving route of the vehicle and a second virtual image whose display position changes along the first virtual image and indicates a course direction of the vehicle when the vehicle approaches a course change point; A display control device that controls the second virtual image to be moved in a direction opposite to the course direction indicated by the second virtual image and displayed on the head-up display device when the vehicle enters the point where the course change is to be performed.

6. 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 image forming surface virtually set in front of a vehicle, and a display control device that controls the head-up display device, The display control device includes: control to display, on the head-up display device, a first virtual image indicating a moving route of the vehicle and a second virtual image whose display position changes along the first virtual image and indicates a course direction of the vehicle when the vehicle approaches a course change point; A vehicle display system that controls the second virtual image to be moved in a direction opposite to the direction of travel indicated by the second virtual image and displayed on the head-up display device when the vehicle enters a point where the lane change is to be performed.

Images