Display control device, head-up display device, display control method, program, and in-vehicle system

Abstract

When directional and non-directional signs are superimposed onto the forward field of view, the area required for display is reduced, thereby minimizing distraction and ensuring a clear view of the road ahead. [Solution] A display control device 700 that causes a viewer to perceive a virtual object as existing at a predetermined real-space position in front of a vehicle, the control unit 701 includes: a first control unit 701a that, as the vehicle moves, displays the first virtual object, which is a directional guidance image, at the second real-space position when the first virtual object approaches the first real-space position by a first predetermined distance from the first real-space position to the second real-space position which is displayed further back on the screen than the first real-space position; and a second control unit 701b that, when the first virtual object approaches the first real-space position by a second predetermined distance shorter than the first predetermined distance, displays the second virtual object, which is a non-directional guidance image, at the first real-space position, and at this time changes the inclination of the non-directional guidance image with respect to the road surface according to the current position of the vehicle.

Description

Technical Field

[0001] The present invention relates to a display control device and the like that can make a virtual object visible to a viewer boarding a vehicle as if it exists at a predetermined real space position in front of the vehicle.

Background Art

[0002] Conventionally, there is known a navigation device that displays a guidance image for guiding a driving route of a vehicle, for example, on a head-up display device (HUD device), and can intuitively present the roads to turn right or left at real space positions such as intersections. In recent years, an AR-HUD (augmented reality - head-up display) device has been mounted on vehicles, which detects oncoming vehicles, pedestrians, etc. in cooperation with an advanced driver assistance system (ADAS) and navigation information, and overlays and displays alert information on the front view (scenery) of the vehicle visible to a viewer (mainly a driver) through the windshield, thereby minimizing the movement of the viewer's point of view.

[0003] For example, in Patent Document 1, at a real space position such as an intersection, for a road (a road to be route-guided) that needs to guide the traveling direction of the vehicle, for example, a route guidance display (direction guidance image) indicating the turning direction is performed, and for a road outside the route guidance target that does not need to guide the traveling direction, a non-direction guidance image indicating entry prohibition or the like is displayed. Thus, the vehicle can be actively guided in the traveling direction by the direction guidance image, and the vehicle can be effectively prevented from entering a road outside the route guidance target by the non-direction guidance image indicating entry prohibition or the like. A technology of a vehicle display device (AR-HUD device) is disclosed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

[0103] to

[0105] , Figure 1, Figure 3) [Overview of the Initiative] [Problems that the invention aims to solve]

[0005] Incidentally, conventional AR-HUD devices display directional guidance (directional guidance images) or non-directional guidance (non-directional guidance images) such as no entry signs either superimposed on the road surface or displayed in AR as if moving along the road surface, constantly changing its position. As a result, the display of these directional guidance images or non-directional guidance images can obstruct the forward view, causing annoyance and resulting in reduced visibility.

[0006] Therefore, the object of the present invention is to provide a display control device, etc., that reduces inconvenience by reducing the area occupied by AR display when displaying non-directional guidance images such as directional guidance indicators or no-entry signs superimposed on the forward view, and that ensures the forward view necessary for driving.

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

[0008] The following are examples of embodiments of the present invention to facilitate understanding of its outline.

[0009] A first aspect of the present invention is a display control device comprising a control unit that controls a display unit that causes a viewer riding in a vehicle to perceive a virtual object as being located at a predetermined real-space position in front of the vehicle, wherein the control unit includes: a first control unit that, as the vehicle moves, displays the first virtual object, which is a directional guidance image, at the second real-space position when the first virtual object among the virtual objects approaches the second real-space position, which is located further back on the screen of the display unit than the first real-space position, by a first predetermined distance from the first real-space position; and a second control unit that displays the second virtual object, which is a non-directional guidance image, at the first real-space position when the vehicle approaches the first real-space position by a second predetermined distance shorter than the first predetermined distance, wherein the second control unit controls the display unit to change the inclination of the non-directional guidance image with respect to the road surface according to the current position of the vehicle when displaying the second virtual object at the first real-space position, and displays it on the display unit.

[0010] Here, "virtual object" refers to, for example, an AR element (augmented reality element) that is displayed superimposed on the road surface. Furthermore, "first virtual object" refers to, for example, as shown in Figure 4, a road containing multiple intersections (5a, 5b, 5c) in front of the vehicle 8, and when displaying a message prompting a left turn at intersection 5c, which is displayed at the far end of the screen furthest from the vehicle 8, the first virtual object refers to the directional guidance image 7c represented by an arrow mark, etc., superimposed on the intersection 5c. The second virtual object refers to non-directional guidance images 7a, 7b, which are superimposed on intersections 5a or 5b, which are displayed at the near end of the screen closer to the vehicle 8, and are represented by, for example, a no-entry sign consisting of a combination of circles and crosses.

[0011] Furthermore, if we define the virtual range in space where a virtual object can be imaged as the virtual image plane (see PS in Figure 1, for example), then on this virtual image plane, the region between the upper and lower ends of the field of view (the viewing angle of the occupant, who is the viewer) can be divided into two equal parts by a boundary line. The lower part of this divided region (the side that appears closer to the viewer) can be called the "foreground" of the screen, and the upper part (the side that appears farther away to the viewer) can be called the "background" of the screen.

[0012] Furthermore, the "tilt of the non-directional guidance image relative to the road surface" refers to the tilt angle θ of the non-directional guidance image 7a, which is displayed superimposed on the road surface at the first real-space position (intersection 5a), as shown in Figure 4. This tilt angle θ changes according to the position of the moving vehicle 8 (vehicle position A, vehicle position B, vehicle position C). As indicated by the arrows in Figure 4, the tilt angle θ increases from 0° to 90° (vertical) as the vehicle 8 approaches intersection 5a (vehicle position C → B → A). The "tilt of the non-directional guidance image relative to the road surface" can also be described as the yaw angle with the vehicle's vertical direction as the axis of rotation.

[0013] Furthermore, "real-world spatial position" refers to the physical spatial position of a foreground object (real-world object) within the vehicle's forward field of view, such as an intersection where a lane change occurs, or a point where the vehicle needs to perform a turning maneuver, such as going straight or turning left or right. "First real-world spatial position" refers to intersections 5a and 5b shown in Figure 4, for example, and "second real-world spatial position" refers to intersection 5c. Furthermore, "first predetermined distance" refers to the distance from the vehicle 8 to intersection 5c, which is the second real-world spatial position, for example, within a range of 300 [m], and "second predetermined distance" refers to the distance from the vehicle 8 to intersection 5a, for example, within a range of 60 [m] to 20 [m].

[0014] In the first embodiment, the control unit moves a first virtual object VOB1, which is a directional guidance image 7c, from a first real-space position (intersection 5a) toward a second real-space position (intersection 5c) which is displayed further back on the screen than the first real-space position (intersection 5a), as shown in Figure 4, for example. When the vehicle (own vehicle 8) approaches the second real-space position (intersection 5c) by a first predetermined distance (e.g., 300 [m]), the control unit displays the first virtual object VOB1, which is a directional guidance image 7c, at the second real-space position (intersection 5a). When the vehicle (own vehicle 8) approaches the first real-space position (intersection 5a) by a second predetermined distance shorter than the first predetermined distance (e.g., 60 [m]), the control unit displays a second virtual object VOB2, which is a non-directional guidance image 7a, at the first real-space position (intersection 5a). Then, in displaying the second virtual object VOB2, which is a non-directional guidance image 7a, at the first real-space position (intersection 5a), control is performed to change the inclination (inclination angle θ) of the non-directional guidance image 7a relative to the road surface (see 6 in Figure 1) (tilting it toward the vehicle 8) according to the position of the vehicle (own vehicle 8) and display it on the display unit (see the stereoscopic display device 111 of the HUD device 100 in Figure 1).

[0015] In this way, the control is performed to change the orientation of the second virtual object VOB2, which is the non-directional guidance image 7a, so that it is tilted toward the vehicle 1 (vehicle 8) relative to the road surface 6, and to display it on the display unit (stereoscopic display device 111 of the HUD device 100) only when the vehicle 1 (own vehicle 8) approaches the first real-space position (intersection 5a) by a second predetermined distance (for example, 60 [m]). (If the distance between the own vehicle 8 and the second real-space position (intersection 5a) is far (for example, more than 60 [m]), the non-directional guidance image 7a is not displayed.) This reduces the display area occupied by the second virtual object VOB2, which is the non-directional guidance image 7a, and opens up the forward view necessary for driving. This reduces the inconvenience caused to the occupant (driver), who is the viewer 4, and also contributes to safe driving by ensuring a clear forward view.

[0016] In a second embodiment dependent on the first embodiment, the first virtual object is the directional guidance image displayed for a road at a second real-space location where it is necessary to guide the vehicle in the direction of travel, and the second virtual object may be the non-directional guidance image displayed for a road at a first real-space location that is not subject to route guidance and does not need to guide the vehicle in the direction of travel.

[0017] In the second embodiment, for example, as shown in Figure 4, the first virtual object VOB1 is a directional guidance image 7c displayed for a road at a second real-space location (intersection 5c) where it is necessary to guide the vehicle 1 in the direction of travel, and the second virtual object VOB2 is a non-directional guidance image 7a displayed for a road at a first real-space location (intersection 5a) that is outside the scope of route guidance and does not require guidance on the direction of travel of the vehicle 1. In this way, the directional guidance image 7c, which is the first virtual object VOB1, enables active guidance of the vehicle 1 in the direction of travel, while the non-directional guidance image 7a, which is the second virtual object VOB2 and is a no-entry sign, effectively prevents the vehicle 1 from entering a road outside the scope of route guidance.

[0018] In a third embodiment dependent on the first or second embodiment, the second control unit may control the inclination of the second virtual object with respect to the road surface to be closer to vertical when the vehicle approaches the first real-space position by a third predetermined distance which is shorter than the second predetermined distance.

[0019] In the third embodiment, when the vehicle approaches the first real-space position by a third predetermined distance which is shorter than the second predetermined distance, the second control unit controls the inclination of the second virtual object with respect to the road surface to make it closer to vertical. This allows the occupant, who is viewing from a distance, to understand the intent of the display, while also reducing the display area occupied by the second virtual object when approaching, thereby reducing annoyance and ensuring forward visibility. Here, "third predetermined distance" means approaching the first real-space position (intersection 5a) by a distance shorter than the second predetermined distance (e.g., 60 [m]), for example, 20 [m].

[0020] In a fourth embodiment dependent on the first to third embodiments, the second control unit may change the inclination of the second virtual object, which is a pre-defined non-directional guidance image, with respect to the road surface according to the distance between the vehicle and the second real-space position, and perform control to maintain a constant horizontal field of view of the second virtual object as seen by the viewer.

[0021] In the fourth embodiment, the second control unit changes the inclination of the second virtual object, which is a non-directional guidance image of a predetermined size, according to the distance between the vehicle and the second real-space position, and controls the second virtual object to maintain a constant horizontal field of view as seen by the viewer. For example, as shown in Figures 5 and 6, when the distance β from the second virtual object VOB2, which is a non-directional guidance image 7a, to the first real-space position (intersection 5a) is 60 [m], the non-directional guidance image 7a is changed to 3 By setting the horizontal field of view to 0.5° (Figure 5(b)) when tilted at 0° (Figure 6(b)), and when the distance α to the second real-space position (intersection 5a), which is the non-directional guidance image 7a, becomes 20 [m] when the closest approach is made, the horizontal field of view to the same-sized non-directional guidance image 7a is also set to 0.5° (Figure 5(a)) when tilted by 5° (Figure 6(a)), thereby reducing the discomfort felt by the occupant, who is the viewer 4, caused by the change in the tilt angle θ.

[0022] Furthermore, the "horizontal field of view as seen by viewer 4" is defined based on a virtual line connecting the eye position (eye point) of viewer 4 and the outer edge of the virtual image forming surface PS, where the virtual range in space in which the virtual objects VOB (VOB1, VOB2) can be imaged is the virtual image forming surface (for example, see the first display surface PS shown in Figure 1). This represents the angular range in which the occupant, who is viewer 4, can see the virtual objects VOB (VOB1, VOB2) from the eye point, and is the horizontal component of this angular range (the vertical component is the vertical field of view).

[0023] A fifth aspect according to the present invention is a head-up display device that causes a viewer boarding the vehicle to visually recognize a virtual object as if it exists at a predetermined real-space position in front of the vehicle, the head-up display device comprising: an image display unit that superimposes and displays the virtual object on a foreground of the vehicle; and a control unit that controls the image display unit, wherein the control unit, as the vehicle moves, when a first virtual object among the virtual objects approaches a second real-space position that is a predetermined distance closer than a first real-space position to a back side of a screen of the image display unit from the first real-space position, a first control unit that displays the first virtual object, which is a direction guidance image, at the second real-space position; and a second control unit that displays a second virtual object, which is a non-direction guidance image, at the first real-space position when the vehicle approaches the first real-space position by a second predetermined distance that is shorter than the first predetermined distance, and the second control unit performs control to change an inclination of the non-direction guidance image with respect to a road surface according to a current position of the vehicle and display the non-direction guidance image on the image display unit when displaying the second virtual object.

[0024] In the fifth aspect, for example, as shown in FIG. 4, when a first virtual object VOB1 approaches a second real-space position (intersection 5c) that is a predetermined distance (for example, 300 [m]) closer than a first real-space position (intersection 5a) to a back side of a screen of the image display unit from the first real-space position, the control unit displays the first virtual object VOB1, which is a direction guidance image 7c, at the second real-space position (intersection 5c). On the other hand, when the vehicle (own vehicle 8) approaches the first real-space position (intersection 5a) by a second predetermined distance (for example, 60 [m]) that is shorter than the first predetermined distance, the control unit displays a second virtual object VOB2, which is a non-direction guidance image 7a, at the first real-space position (intersection 5a). Here, when displaying the second virtual object VOB, which is the non-direction guidance image 7a at the first real-space position (intersection 5a), control is performed to change an inclination angle θ of the non-direction guidance image 7a with respect to a road surface (see 6 in FIG. 1) according to the position of the vehicle (own vehicle 8) and display the non-direction guidance image on the image display unit (see 113 in FIG. 1).

[0025] In this way, the control is performed to change the orientation of the second virtual object VOB2, which is the non-directional guidance image 7a, so that it is tilted toward the vehicle relative to the road surface and displayed on the display unit only when the vehicle (own vehicle 8) approaches the first real-space position (intersection 5a) by a second predetermined distance (for example, 60 [m]) (if the distance between the own vehicle 8 and the second real-space position (intersection 5a) is far (for example, more than 60 [m]), the non-directional guidance image 7a will not be displayed). This reduces the display area occupied by the second virtual object VOB2, which is the non-directional guidance image 7a, and opens up the forward view necessary for driving. This reduces the inconvenience caused to the occupant (driver) who is the viewer, and also ensures a clear forward view, thus providing a head-up display device that contributes to safe driving. Furthermore, by superimposing virtual images (in this case, directional guidance image 7c and non-directional guidance images 7a, 7b) onto the forward view (scenery) of the vehicle as seen by the occupant (driver) through the windshield, the head-up display system offers a unique effect: it minimizes the movement of the occupant's gaze.

[0026] A sixth aspect of the present invention is a display control method using a display control device having a control unit that controls a display unit that causes a viewer riding in a vehicle to perceive a virtual object as being located at a predetermined real-space position in front of the vehicle, the method comprising: a step of the control unit displaying the first virtual object, which is a directional guidance image, at the second real-space position when the control unit moves by a first predetermined distance from the first real-space position to a second real-space position which is displayed further back on the screen of the image display unit than the first real-space position; a step of the control unit displaying the second virtual object, which is a non-directional guidance image, at the first real-space position when the vehicle moves by a second predetermined distance which is shorter than the first predetermined distance; and a step of the control unit performing control to change the inclination of the non-directional guidance image with respect to the road surface according to the current position of the vehicle when displaying the second virtual object at the first real-space position, and displaying it on the display unit.

[0027] In the sixth aspect, for example, as shown in FIG. 4, when the vehicle (own vehicle 8) approaches a first actual space position (intersection 5a) by a second predetermined distance (for example, 60 [m]), the control unit changes the second virtual object VOB2, which is a non-directional guidance image 7a, to be inclined toward the vehicle 1 (own vehicle 8) side with respect to the road surface (see 6 in FIG. 1) and performs control to display it on the display unit (see the HUD device 100 and the stereoscopic display device 111 in FIG. 1). When the distance between the own vehicle 8 and the second actual space position (intersection 5a) is far (for example, exceeding 60 [m]), the non-directional guidance image 7a is not displayed. By doing so, the display occupation area of the second virtual object VOB2, which is the non-directional guidance image 7a, can be reduced, the forward field of view necessary for driving can be opened, the annoyance given to the viewer, which is the occupant (driver), can be reduced, and since the forward field of view can be secured, it can contribute to safe driving.

[0028] A seventh aspect according to the present invention is a program for a display control device including a control unit that controls a display unit that visually presents to a viewer boarding the vehicle as if a virtual object exists at a predetermined actual space position in front of the vehicle. A processor included in the control unit, as the vehicle moves, when a first virtual object among the virtual objects approaches a second actual space position, which is displayed deeper inside the screen of the image display unit than the first actual space position, by a first predetermined distance from the first actual space position, performs a process of displaying the first virtual object, which is a direction guidance image, at the second actual space position; when the vehicle approaches the first actual space position by a second predetermined distance shorter than the first predetermined distance, performs a process of displaying a second virtual object, which is a non-directional guidance image, at the first actual space position; and when displaying the second virtual object at the first actual space position, performs a process of performing control to change the inclination of the non-directional guidance image with respect to the road surface according to the current position of the vehicle and display it on the display unit.

[0029] In the seventh embodiment, the processor in the control unit reads and executes a program stored in memory, and for example, as shown in Figure 4, controls the display unit (see stereoscopic display device 111 of the HUD device 100) to display the second virtual object VOB2, which is a non-directional guidance image 7a, by tilting it toward the vehicle 1 (vehicle 8) side relative to the road surface 6 only when the vehicle 1 (own vehicle 8) approaches the first real-space position (intersection 5a) by a second predetermined distance (e.g., 60 [m]). (If the distance between the own vehicle 8 and the second real-space position (intersection 5a) is far (e.g., more than 60 [m]), the non-directional guidance image 7a is not displayed.) This reduces the display area occupied by the second virtual object VOB2, which is the non-directional guidance image 7a, and opens up the forward view necessary for driving. This reduces the inconvenience caused to the occupant (driver) who is the viewer, and also ensures a forward view, thus providing a display control device that contributes to safe driving.

[0030] An eighth aspect of the present invention is an in-vehicle system comprising: a navigation device that generates virtual objects and provides route guidance for a vehicle; and a display control device that controls a display device that causes a viewer riding in the vehicle to perceive the virtual objects as being located at a predetermined real-space position in front of the vehicle, wherein, as the vehicle moves, the display control device moves a first virtual object among the virtual objects generated by the navigation device from a first real-space position to a second real-space position displayed further back on the display device's screen than the first real-space position by a first predetermined distance. The in-vehicle system includes a first control unit that displays the first virtual object, which is a directional guidance image, at the second real-space position when the vehicle approaches by a certain distance, and a second control unit that displays the second virtual object, which is a non-directional guidance image, at the first real-space position when the vehicle approaches the first real-space position by a second predetermined distance shorter than the first predetermined distance, wherein the second control unit controls the display of the non-directional guidance image on the display device by changing the inclination of the non-directional guidance image with respect to the road surface according to the current position of the vehicle when displaying the second virtual object at the first real-space position.

[0031] In the eighth embodiment, the display control device, for example as shown in Figure 4, controls the display device (see stereoscopic display device 111 of the HUD device 100) to display the second virtual object VOB2, which is a non-directional guidance image 7a, by tilting it toward the vehicle side with respect to the road surface (see 6 in Figure 1) only when the vehicle 1 (own vehicle 8) approaches the first real-space position (intersection 5a) by a second predetermined distance (e.g., 60 [m]) (if the distance between the own vehicle 8 and the second real-space position (intersection 5a) is far (e.g., more than 60 [m]), the non-directional guidance image 7a is not displayed). This reduces the display area occupied by the second virtual object VOB2, which is the non-directional guidance image 7a, and opens up the forward view necessary for driving. This reduces the inconvenience caused to the occupant (driver), who is the viewer, and ensures a clear forward view, thus providing an in-vehicle system that contributes to safe driving.

[0032] Those skilled in the art will readily understand that the embodiments of the present invention illustrated can be further modified without departing from the spirit of the invention. [Brief explanation of the drawing]

[0033] [Figure 1] Figure 1 shows an example of the configuration of an in-vehicle system according to an embodiment of the present invention, which includes a parallax-type 3D head-up display device. [Figure 2] Figure 2 is a block diagram showing an example of a display control device and its peripheral configuration according to an embodiment of the present invention. [Figure 3] Figure 3 is a flowchart showing the operation of the display control device according to an embodiment of the present invention. [Figure 4] Figure 4 shows an example of display content generated by a display control device according to an embodiment of the present invention. [Figure 5] Figure 5 shows an example of display content from the perspective of an occupant that changes depending on the vehicle's position, in a display control device according to an embodiment of the present invention. [Figure 6]Figure 6 is a diagram referenced to illustrate the horizontal field of view that is maintained at a constant level by the display control device according to an embodiment of the present invention. [Modes for carrying out the invention]

[0034] The best embodiments described below are used to facilitate understanding of the present invention. Therefore, those skilled in the art should note that the present invention is not unduly limited by the embodiments described below (hereinafter referred to as "these embodiments").

[0035] (Configuration of the embodiment) Embodiments of the present invention will be described below with reference to the drawings. Refer to Figure 1. Figure 1 is a diagram showing an example of the configuration of an in-vehicle system 3 including a parallax 3D head-up display device (HUD device) 100.

[0036] In Figure 1, the direction along the line segment connecting the left and right eyes EL and ER of the observer 4 (in other words, the width direction of vehicle 1) is defined as the left-right direction (or lateral direction: X direction), the direction along the line segment perpendicular to the left-right direction and perpendicular to the ground or a surface equivalent to the ground (here, the road surface 6) is defined as the up-down direction (or height direction: Y direction), and the direction along the line segments perpendicular to both the left-right and up-down directions (the direction indicating the forward and backward direction of vehicle 1) is defined as the forward-backward direction (Z direction). Here, the positive Z direction is forward, and the negative Z direction is backward.

[0037] The in-vehicle system 3 in vehicle 1, shown in Figure 1, includes a pupil (or face) detection camera 43 for detecting the direction and position of the gaze of the left and right eyes EL and ER of a viewer 4 (such as a driver riding in vehicle 1), a forward (broadly speaking, surrounding) imaging camera (e.g., stereo camera) 45, an image processing unit 46 (including a distance measuring unit 47 and an object type / size detection unit 48), a HUD device 100, a communication unit 123 (having functions such as GPS communication and vehicle-to-vehicle communication), and an ECU (electronic control unit) 120 capable of collecting various information about vehicle 1 (e.g., lighting on / off information, vehicle speed information, engine information, etc.).

[0038] Furthermore, the in-vehicle system 3 may also include a navigation device 121. The navigation device 121 incorporates a positioning unit such as a GPS (Global Positioning System) and has map information, and can generate navigation information that includes at least the distance from the current position of the vehicle 1 to a predetermined real-space location such as an intersection. The navigation device 121 can update its map database by acquiring the latest map information, for example, by communicating with an external center (not shown) via a V2X (Vehicle to X) type communication system. Here, the map information stored in the map database is mapping data that has been digitized to represent the driving environment of the vehicle 1. It is particularly preferable that the mapping data be digital data of a highly accurate dynamic map. Here, a "dynamic map" is a digital map that combines a vast amount of constantly changing dynamic information, such as traffic regulations and construction information, accidents and congestion, pedestrians and signal information, with static information such as highly accurate 3D position information (road surface information, diagonal line information, 3D structures).

[0039] Furthermore, the in-vehicle system 3 may also be equipped with a radar unit 125 or the like as a distance measuring means, if necessary. The distance measuring means can be used, for example, to measure the distance from vehicle 1 to a vehicle ahead (an object ahead). Based on this measurement result, display control can be performed, for example, by performing a parallax-type 3D display in an area where there is no object ahead.

[0040] Furthermore, the distance measuring unit 47 included in the image processing unit 46 may, for example, refer to a pair of original images captured by a stereo camera, such as the surrounding imaging camera 45, and detect parallax for the same object (referred to as the target object) by stereo matching, for example, searching for corresponding points in each image, and measure the distance to the target object using the principle of triangulation based on this parallax.

[0041] Alternatively, the radar unit 125 may measure the distance and direction to the target object (forward target object) by emitting radio waves toward the target object (forward target object) and measuring the reflected waves.

[0042] The information acquisition unit 119 of the HUD device 100 acquires measured distance information and other data as appropriate and supplies it to the control unit 701 of the stereoscopic display device 111. The HUD device 100 is installed, for example, in the dashboard (not shown) of a vehicle 1. This HUD device 100 includes a stereoscopic display device 111, an optical unit 116, a light emission window 118, and an information acquisition unit 119. The information acquisition unit 119 can acquire various information from the communication unit 123, ECU 120, radar unit 125, and image processing unit 46, etc.

[0043] The stereoscopic display device 111 is, in this case, a parallax-type 3D display device. This stereoscopic display device (parallax-type 3D display device) 111 includes an image generation unit 112, an image display unit (a display panel such as a liquid crystal display device, having an image display surface 113a for displaying images) 113, a light ray separation unit 114 which has a lenticular lens or a parallax barrier (parallax barrier) and separates the light emitted from the image display surface 113a into light rays for the left and right eyes, and a display control device 700 of this embodiment.

[0044] The display control device 700 of this embodiment includes a control unit 701 that performs display control when displaying a virtual object VOB (see arrow mark FU) so that it is visible to a viewer 4 (mainly the driver) riding in the vehicle 1, as if it were located at a predetermined real-space position in front of the vehicle 1 (for example, the center of an intersection). The control unit 701 can, for example, control the operation of the image generation unit (specifically, for example, image rendering) 112 and the image display unit 113, and can also switch between 2D display and 3D display, and can also control the visibility of content images as a measure against crosstalk. The configuration of the control unit 701 will be described later with reference to Figure 2.

[0045] The optical unit 116 has a curved mirror (concave mirror, etc.) 117 that reflects light from the light separation unit 114 and projects the image display light K1, K2 onto the windshield (projection target member) 2. However, it may also have other optical members (lenses, auxiliary reflectors, etc.).

[0046] In Figure 1, the stereoscopic display device 111 of the HUD device 100 displays parallax viewpoint images (sometimes referred to as "parallax images") for each of the left and right eyes. As shown in Figure 1, each parallax image is displayed as virtual images VL and VR on the first display surface, which is the virtual image forming surface (virtual image area) PS. A stereoscopic image with a sense of depth (stereoscopic image, 3D image) is displayed as a virtual object VOB on the second display surface, which is the convergence surface (stereoscopic image display surface VS), located further back from the viewer 4 than the first display surface PS.

[0047] If 2D display control is performed instead of 3D display control, planar virtual images VL and VR will be displayed on the first display surface PS. Since the perception of distance can be expressed by changes in display size and display position (which depend on the movement speed of vehicle 1), it is possible to achieve this not only with 3D display that controls convergence angle and focus, but also with pseudo-2D display. Furthermore, this may be applied not only to the HUD device 100, but also to display devices such as a center information display (CID) or a head-mounted display (HMD).

[0048] The control unit 701 includes a first control unit (see 701a in Figure 2, described later) that displays the first virtual object, which is a directional guidance image, at the second real-space position when the first virtual object VOB1 approaches the second real-space position, which is displayed further back on the screen than the first real-space position, by a first predetermined distance from the first real-space position, and a second control unit (see 701b in Figure 2, described later) that displays the second virtual object VOB2, which is a non-directional guidance image, at the first real-space position when the vehicle 1 approaches the first real-space position by a second predetermined distance shorter than the first predetermined distance. Furthermore, when the second control unit displays the second virtual object VOB2 at the first real-space position, it can control the display unit (stereoscopic display device 111) to change the inclination of the non-directional guidance image relative to the road surface according to the current position of the vehicle 1.

[0049] The first virtual object VOB1 is, for example, a directional guidance image 7c displayed for a road at a second real-space location (intersection 5c) where it is necessary to guide the direction of travel of vehicle 1 (own vehicle 8), as shown in Figure 4, while the second virtual object VOB2 is a non-directional guidance image 7a displayed for a road at a first real-space location (intersection 5a) that is not subject to route guidance and does not require guidance on the direction of travel of vehicle 1 (own vehicle 8).

[0050] Here, "virtual object VOB" refers to, for example, an AR element (augmented reality element) that is displayed superimposed on the road surface 6 (road). Furthermore, "first virtual object VOB1" refers to, for example, as shown in Figure 4, a road containing multiple intersections (5a, 5b, 5c) in front of vehicle 1 (own vehicle 8), and when displaying a message prompting a left turn at intersection 5c, which is displayed at the far end of the screen furthest from the own vehicle 8, the first virtual object VOB1 refers to a directional guidance image 7c represented by an arrow mark, etc., superimposed on the intersection 5c. Second virtual object VOB2 refers to non-directional guidance images 7a, 7b, which are superimposed on intersections 5a or 5b, which are displayed at the near end of the screen, closer to the own vehicle 8, and are represented by, for example, a no-entry mark consisting of a combination of ○ and ×.

[0051] Furthermore, if we define the virtual range in the space where virtual objects VOB (the first virtual object VOB1, the second virtual object VOB2) can be imaged as the virtual image forming surface (see PS in Figure 1), then on this virtual image forming surface PS, the region between the upper and lower ends of the field of view (the field of view of the occupant, who is the viewer 4) can be divided into two equal parts by a boundary line. The lower part of this divided region (the side that appears closer to the viewer 4) can be called the "foreground" of the screen, and the upper part (the side that appears farther to the viewer 4) can be called the "background" of the screen.

[0052] Furthermore, the "tilt of the non-directional guidance image relative to the road surface" refers to the tilt angle θ of the non-directional guidance image 5a, which is displayed superimposed on the road surface 6 (road) at the first real-space position (intersection 5a), as shown in Figure 4, and this tilt angle θ changes according to the position of the moving vehicle 8 (vehicle position A, vehicle position B, vehicle position C). As indicated by the arrows in Figure 4, the closer the vehicle 8 gets to intersection 5a (vehicle position C → B → A), the greater the tilt angle θ increases from 0° to 90° (vertical). The "tilt of the non-directional guidance image relative to the road surface" can also be described as the yaw angle with the vertical direction of vehicle 1 as the axis of rotation.

[0053] Furthermore, "real-world spatial position" refers to the spatial position of a foreground object (real-world object) within the forward field of view of vehicle 1, such as an intersection where a change of direction is required, or a point where the vehicle needs to perform a turning operation, such as going straight or turning left or right. "First real-world spatial position" refers to intersections 5a and 5b shown in Figure 4, for example, and "second real-world spatial position" refers to intersection 5c. Furthermore, "first predetermined distance" refers to the distance from vehicle 8 to intersection 5c, which is the second real-world spatial position, for example, within a range of 300 [m], and "second predetermined distance" refers to the distance from vehicle 8 to intersection 5a, for example, within a range of 60 [m] to 20 [m].

[0054] Furthermore, the control unit 701 can control the inclination θ of the second virtual object VOB2, which is a non-directional guidance image 7a, with respect to the road surface 6 to bring it closer to perpendicular (increasing from 0° to 90°) when the vehicle 1 (own vehicle 8) approaches the first real-space position (intersection 5a) by a third predetermined distance α which is shorter than the second predetermined distance β. Here, the "third predetermined distance α" means approaching the first real-space position (intersection 5a) by a distance shorter than the second predetermined distance β (for example, 60 [m]), for example, 20 [m].

[0055] Furthermore, the control unit 701 can change the tilt (tilt angle θ) of the second virtual object VOB2, which is a non-directional guidance image 7a whose size is predetermined according to the distance between the vehicle 1 and the first real-space position (intersection 5a), in order to maintain a constant horizontal field of view of the second virtual object VOB2 as seen by the viewer 4. Here, "horizontal field of view as seen by the viewer" is defined based on a virtual line connecting the viewer's eye point and the outer edge of the virtual image forming surface PS, where the virtual range in the space in which the virtual objects VOB (VOB1, VOB2) can be imaged is the virtual image forming surface (see, for example, VS in Figure 1). This is the angular range in which the viewer 4 can see the virtual objects VOB (VOB1, VOB2) from the eye point, and is the horizontal component of this angular range (see (a) and (b) in Figure 5) (the vertical component is the vertical field of view).

[0056] Refer to Figure 2. Figure 2 shows a preferred configuration example of the control unit 701 of Figure 1. As shown in Figure 2, the control unit 701 includes at least a first control unit 701a and a second control unit 702b.

[0057] The first control unit 701a can display the first virtual object VOB1, which is a directional guidance image 7c, at the second real-space position (intersection 5c) when the first virtual object VOB1 approaches the first real-space position (intersection 5a) by a first predetermined distance γ from the first real-space position (intersection 5a) and is located further back on the screen of the display unit (e.g., the stereoscopic display device 111 of the HUD device 100) (e.g., the image display surface 113a) than the first real-space position. The second control unit 701b can also display the second virtual object VOB2, which is a non-directional guidance image 7a, at the first real-space position (intersection 5a) when the vehicle 1 approaches the first real-space position by a second predetermined distance β which is shorter than the first predetermined distance. The second control unit 701b controls the display of the second virtual object VOB2 at the first real-space location (intersection 5a) by changing the inclination of the non-directional guidance image 7a relative to the road surface 6 (see inclination angle θ in Figure 4) according to the current position of the vehicle 1, and displaying it on the display unit (for example, the stereoscopic display device 111 of the HUD device 100).

[0058] To realize the functions described above, the first control unit 701a and the second control unit 701b perform control to adjust the display size of virtual objects VOB (VOB1, VOB2) according to the distance to a predetermined real-space position (intersection 5a, 5b, 5c) obtained from the navigation device 121, and to adjust the display position of virtual objects VOB (VOB1, VOB2) according to the guidance direction at the predetermined real-space position. As a result, the first virtual object VOB1, which is a directional guidance image 7c represented by an arrow mark, and the second virtual object VOB2, which is represented by a no-entry mark consisting of a combination of circles and crosses, can be naturally represented as if they were moving along the road surface 6.

[0059] Furthermore, the adjustment of the display size and display position can be achieved by, for example, preparing a function (characteristic line) that shows the relationship between distance and display size, which is adjusted to a rate of change different from the real-world size change rate (the rate of change corresponding to the size change of real objects existing in real space), and using that function (characteristic line) as needed to change the display size and display position of the virtual objects VOB (VOB1, VOB2). This allows for a display that is reasonably easy to see at a distance, while suppressing the display size from becoming too large at a close distance, thereby achieving an appropriate change in display size from far to near and realizing a perspective display that does not feel unnatural (see Japanese Patent Application No. 2024-14544, a prior application filed on February 2, 2024, by the same applicant as the present applicant). Alternatively, a function (characteristic line) that shows the relationship between distance and display size, which is adjusted to the same rate of change as the real-world size change rate, can be prepared in advance, and the display size and display position of the virtual objects VOB can be controlled using that function (characteristic line). This would further improve the harmony between the virtual objects VOB and real-space locations such as intersections.

[0060] In the display control device 700 of this embodiment, the functions of the control unit 701 (first control unit 701a, second control unit 701b) described above are realized by a program executed by a computer (recorded in memory). In this case, the control unit 701 (first control unit 701a and second control unit 701) includes, for example, a computer consisting of a processor and at least one memory (e.g., RAM) as hardware for executing the above-mentioned program. Furthermore, at least a part of the above-mentioned functions can also be realized by logic circuits. For example, an integrated circuit in which logic circuits are formed is also included in the scope of the present invention.

[0061] (Operation of the embodiment) The operation of the display control device 700 of this embodiment shown in Figures 1 and 2 will be described in detail below with reference to Figures 3 and onward. Figure 3 is a flowchart showing the operation of the display control device 700 of this embodiment. Figure 4 is a diagram showing an example of display content generated by the display control device 700 of this embodiment. Figure 5 is a diagram showing an example of display content viewed from the viewpoint (eye point) of the occupant, who is the viewer 4, which changes depending on the current position of the vehicle 8. Figure 6 is a diagram included to illustrate the horizontal field of view that is kept constant by the display control device 700 of this embodiment.

[0062] Refer to Figure 3. When the occupant, who is the observer 4, operates the navigation device 121 to start navigation (step ST301 "YES"), the navigation information generated by the navigation device 121 is superimposed on the forward view of the vehicle 1 and displayed on the HUD device 100. When the control unit 701 detects that navigation has started by the navigation device 121, it acquires the current position information of the vehicle 1 (own vehicle 8) determined by the navigation device 121 and displays map information cut out based on the acquired current position information of the vehicle 1 (own vehicle 8) (step ST302). The control unit 701 can display map information cut out based on the acquired current position information of the vehicle 1. Here, for example, as shown in Figure 4, map information is displayed showing intersections 5a, 5b, and 5c located in front of the vehicle 1, from the front to the back of the screen.

[0063] The control unit 701 (first control unit 701a) determines whether the vehicle 1 (vehicle 8 in Figure 4) has approached the intersection 5c, which is a second real-space location, by a first predetermined distance γ (for example, 300 [m]) based on the positioning information (current position information) of the vehicle 1 (vehicle 8 in Figure 4), which changes in accordance with the movement of the vehicle 1 (step ST303). If it is determined that the vehicle 1 (vehicle 8) has approached the intersection 5c, which is the second real-space location, by γ (vehicle position C shown in Figure 4) (step ST303 "YES"), the control unit 701 (first control unit 701a) controls the first VOB1, which is a direction guidance image 7c, to move at high speed to the second real-space location (intersection 5c) and to display it at the second real-space location (intersection 5c) (step ST304). For example, Figure 5(c) shows an example of the displayed content, where the first virtual object VOB1, represented by an arrow indicating a left turn, is displayed at the back of the screen.

[0064] Here, the control unit 701 (first control unit 701a) moves the first virtual object VOB1, which is the directional guidance image 7c, to the second real-space position (intersection 5c) at high speed, and then displays the first virtual object VOB1, which is the directional guidance image 7c, on the far side of the screen (image display surface 113a) of the HUD device 100. If the approach of vehicle 1 (own vehicle 8) to intersection 5c is less than the first predetermined distance γ (300 [m]) (step ST303 "NO"), the process returns to step ST302, and map information updated based on the current location of vehicle 1 (own vehicle 8) is displayed.

[0065] After the control unit 701 (first control unit 701a) displays the first virtual object VOB1, which is a directional guidance image 7c, on the back side of the screen (image display surface 113a) of the HUD device 100, the control unit 701 (second control unit 701b) determines whether the vehicle 1 (own vehicle 8) has approached the second real-space position (intersection 5a) by a second predetermined distance β (for example, 60 [m]) in response to the movement of the vehicle 1 (own vehicle 8) (step ST305). Here, when it is determined that vehicle 1 (own vehicle 8) has approached the first real-space position, intersection 5a, by a second predetermined distance β (where β < γ) (own vehicle position B shown in Figure 4) (step ST305 "YES"), the control unit 701 (second control unit 701b) controls the second VOB2, which is a non-directional guidance image 7a, to be tilted by, for example, 30° relative to the road surface 6 towards the vehicle 1 (own vehicle 8) traveling on the road, and to be displayed near intersection 5a (step ST306). For example, an example of the display content is shown in Figure 5(b), where the second virtual object VOB2 (non-directional guidance image), represented by a no-entry mark consisting of a combination of ○ and ×, is displayed near the first real-space position (intersection 5a). Although not shown in Figure 5, the same applies to the second virtual object VOB2 displayed at the first real-space position, which is intersection 5b, displayed further back on the screen than intersection 5a.

[0066] The control unit 701 (second control unit 701b) determines whether the vehicle 1 (own vehicle 8) has approached by a third predetermined distance α (e.g., 20 [m]) which is shorter than a second predetermined distance (e.g., 60 [m]) in response to the subsequent movement of the vehicle 1 (own vehicle 8) (step ST307). If it is determined that the vehicle 1 (own vehicle 8) has approached the intersection 5a, which is the real-space position of 1, by a third predetermined distance α (where α < β) (own vehicle position A shown in Figure 4) (step ST307 "YES"), the control unit 701 (second control unit 701b) controls the second virtual object VOB2, which is a non-directional guidance image 7a, by updating the inclination (inclination angle θ) from, for example, 30° to 5° and displaying it near the first real-space position (intersection 5a) (step ST308).

[0067] At this time, the control unit 701 (the second control unit 701b) controls the inclination (inclination angle θ) of the second virtual object VOB2 with respect to the road surface 6 to approach vertical (90°) when it approaches the first real-space position (intersection 5a) by a third predetermined distance α which is shorter than the second predetermined distance β. In other words, it controls the inclination to approach vertical as the distance to intersection 5a decreases. Although not shown in Figure 5, the same applies to the second virtual object VOB2 displayed at the first real-space position, which is intersection 5b, displayed further back on the screen than intersection 5a.

[0068] In steps ST306 and ST308, the control unit 701 (second control unit 701b) changes the inclination (inclination angle θ to tilt it toward the vehicle 1 traveling on the road relative to the road surface 6) of the second virtual object VOB2, which is a non-directional guidance image 7a whose size is predetermined according to the distance between the vehicle 1 (own vehicle 8) and the second real-space position (intersection 5a). For example, as shown in Figures 5(b) and (c), the control unit maintains a constant horizontal field of view (e.g., 3°) from the perspective of the occupant (or vehicle 1), who is the viewer 4 of the second virtual object VOB2, regardless of the inclination angles α and β. Although not shown in Figure 5, the same applies to the second virtual object VOB2 displayed at the first real-space position, which is intersection 5b, displayed further back on the screen than intersection 5a.

[0069] Finally, as vehicle 1 (own vehicle 8) moves, if the second virtual object VOB2 (non-directional guidance image 7a) and the first virtual object VOB1 (directional guidance image 7c), which are displayed on the HUD device 100 and are shown at the real-space location of intersection 5a, 5b, or intersection 5c, extend beyond the virtual image area (see PS in Figure 1) virtually set in front of vehicle 1 (own vehicle 8) and are cut off from the screen (image display surface 113a) of the HUD device 100, or if the first virtual object VOB1 (directional guidance image 7c) is displayed and the occupant (driver) performs a rotation operation of vehicle 1 in accordance with the first virtual object VOB1 (directional guidance image 7c), the control unit 701 executes control to erase the corresponding virtual object VOB (either VOB1 or VOB2) (step ST310), thereby ending the series of operations described above.

[0070] (Effects of the embodiment)

[0071] As described above, the display control device of this embodiment is a display control device 700 that includes a control unit 701 that controls a display unit (for example, a stereoscopic display device 111 of a HUD device 100) that causes a viewer 4 (an occupant in the vehicle 1) in the vehicle 1 to perceive a virtual object VOB as existing at a predetermined real-space position in front of the vehicle 1, as shown in Figure 1. The control unit 701 includes, for example, a first control unit 701a and a second control unit 701b, as shown in Figure 2. The first control unit 701a displays the first virtual object VOB1 (direction guidance image 7c), which is the direction guidance image 7c, at the second real-space position (intersection 5a) when the first virtual object VOB1 (direction guidance image 7c) among the virtual objects VOB approaches the second real-space position (intersection 5a) by a first predetermined distance γ (e.g., 300 [m]) from the first real-space position (intersection 5a) to the second real-space position (intersection 5a), which is displayed further back on the screen than the first real-space position (intersection 5a), as the vehicle 1 moves. On the other hand, the second control unit 701b displays the second virtual object VOB2, which is the non-direction guidance image 7a, at the first real-space position (intersection 5a) when the vehicle 1 approaches the first real-space position (intersection 5a) by a second predetermined distance β (e.g., 60 [m]), which is shorter than the first predetermined distance γ (e.g., 300 [m]). The second control unit 701b controls the display of the second virtual object VOB2 at the first real-space location (intersection 5a) by changing the inclination (inclination angle θ) of the non-directional guidance image 7a relative to the road surface 6 according to the current position of the vehicle 1, and displaying it on the display unit (for example, the stereoscopic display device 111 of the HUD device 100).

[0072] According to the display control device 700 of this embodiment, the control unit 701 (second control unit 701b) controls the display unit (for example, the stereoscopic display device 111 of the HUD device 10) to change the orientation of the second virtual object VOB2, which is a non-directional guidance image 7a, so that it is tilted toward the vehicle 1 side with respect to the road surface 6, and displays it only when the vehicle 1 (own vehicle 8) approaches the first real-space position (intersection 5a) by a second predetermined distance β (for example, 60 [m]). (If the distance between the own vehicle 8 and the second real-space position (intersection 5a) is far (for example, more than 60 [m]), the non-directional guidance image 7a is not displayed.) This reduces the display area occupied by the second virtual object VOB2, which is a non-directional guidance image 7a, and opens up the forward view necessary for driving, thus reducing the inconvenience caused to the occupant (driver), who is the viewer 4. In addition, because the forward view is secured, it can contribute to safe driving.

[0073] Furthermore, according to the display control device 700 of this embodiment, the first virtual object VOB1 is a directional guidance image 7c displayed for a road at a second real-space location (intersection 5c) where it is necessary to guide the vehicle 1 in the direction of travel, and the second virtual object VOB2 is a non-directional guidance image displayed for a road at a first real-space location (intersection 5a) that is not subject to route guidance and does not require guiding the vehicle 1 in the direction of travel. Therefore, the directional guidance image 7c, which is the first virtual object VOB1, enables active guidance of the vehicle 1 in the direction of travel, while the non-directional guidance image 7a, which is the second virtual object VOB2 and is a no-entry sign, effectively prevents the vehicle 1 from entering a road that is not subject to route guidance.

[0074] Furthermore, according to the display control device 700 of this embodiment, when the vehicle 1 approaches the first real-space position (intersection 5a) by a third predetermined distance α (e.g., 20 m) which is shorter than the second predetermined distance β (e.g., 60 m), the control unit 701 (second control unit 701b) controls the inclination (inclination angle θ) of the second virtual object VOB2 with respect to the road surface 6 to be closer to vertical (90°). This allows the occupant, who is a viewer 4 at a distance, to understand the intent of the display, and when approaching, it reduces the display area occupied by the second virtual object VOB2, which is a non-directional guidance image 7a, thereby reducing inconvenience and ensuring forward visibility.

[0075] Furthermore, according to the display control device 700 of this embodiment, the control unit 701 (second control unit 701b) changes the inclination (inclination angle θ) of the second virtual object VOB2, which is a non-directional guidance image 7a with a predetermined size, according to the distance between the vehicle 1 (own vehicle 8) and the second real-space position (intersection 5c), and performs control to maintain a constant horizontal field of view of the second virtual object VOB2, which is a non-directional guidance image 7a, as seen from the viewer 4. For example, when the distance from the second virtual object VOB2, which is a non-directional guidance image 7a, to the first real-space position (intersection 5a) is 60 [m], For example, if the non-directional guidance image 7a is tilted by 30°, the horizontal field of view is set to 0.5°. If the second virtual object VOB2, which is the non-directional guidance image 7a, is closest to the second real-space position (intersection 5a) at a distance of 20[m], then even if the non-directional guidance image 7a of the same size is tilted by 5°, the horizontal field of view will remain the same at 0.5°. In other words, by keeping the horizontal field of view constant regardless of the tilt angle θ of the second virtual object VOB2, which is the non-directional guidance image 7a, it is possible to reduce the discomfort felt by the occupant (driver), who is the viewer 4, caused by the change in the tilt angle θ.

[0076] Furthermore, according to the display control device 700 of this embodiment, for example, as shown in Figure 1, it is a head-up display device (HUD device 100) that allows the occupant (driver), who is a viewer 4 in the vehicle 1, to perceive that a virtual object VOB exists at a predetermined real-space position in front of the vehicle 1. The HUD device 100 has an image display unit 113 that superimposes and displays the virtual object VOB on the foreground of the vehicle 1, and a control unit 701 that controls the image display unit 113, including a first control unit 701a and a second control unit 701b. Then, as the vehicle 1 moves, the control unit 701 (first control unit 701a) displays the first virtual object VOB1, which is a directional guidance image 7c, at the second real-space position (intersection 5c) when the first virtual object VOB1 among the virtual objects VOB approaches the second real-space position (intersection 5c), which is displayed further back on the screen (image display surface 113a) of the image display unit 113 than the first real-space position (intersection 5a), by a first predetermined distance γ (e.g., 300 [m]). On the other hand, the second control unit 701b displays the second virtual object VOB2, which is a non-directional guidance image 7a, at the first real-space position (intersection 5a) when the vehicle 1 approaches the first real-space position (intersection 5a) by a second predetermined distance β (e.g., 60 [m]), which is shorter than the first predetermined distance γ. Then, the second control unit 701b controls the display of the second virtual object VOB2, which is a non-directional guidance image 7a, at the first real-space position (intersection 5a) by changing the inclination (inclination angle θ) of the non-directional guidance image 7a with respect to the road surface 6 according to the current position of the vehicle 1 (own vehicle 8), and displays it on the image display unit 113.

[0077] According to the HUD device 100 of this embodiment, when the vehicle 1 (own vehicle 8) approaches the first real-space position (intersection 5a) by a second predetermined distance β (for example, 60 [m]), the second virtual object VOB2, which is a non-directional guidance image 7a, is tilted by an angle θ (see Figure 4) relative to the road surface 6 toward the vehicle 1 (own vehicle 8) and displayed on the image display unit 113. (If the distance between the own vehicle 8 and the second real-space position (intersection 5a) is far (for example, more than 60 [m]), the non-directional guidance image 7a is not displayed.) This reduces the display area occupied by the second virtual object VOB2, which is the non-directional guidance image 7a, and opens up the forward view necessary for driving, thereby reducing the inconvenience caused to the occupant (driver), who is the viewer 4. Furthermore, because the forward view can be secured, the HUD device 100 can be provided that contributes to safe driving. Furthermore, the HUD device 100 offers a unique effect: by overlaying virtual images VL and VR (in this case, directional guidance image 7c and non-directional guidance image 7a) onto the forward view (scenery) of the vehicle 1 as seen by the occupant (driver), who is the viewer 4, through the windshield, the movement of the occupant's gaze can be minimized.

[0078] The display control method of this embodiment is a display control method using a display control device 700 that has a display unit (e.g., HUD device 100) that makes it appear to a viewer 4 riding in the vehicle 1 as if a virtual object VOB were located at a predetermined real-space position in front of the vehicle 1 (e.g., intersections 5a, 5b, 5c, etc.), and a control unit 701 that controls the display unit. Furthermore, as shown in Figure 3, the display control method is such that, as the vehicle 1 moves, the control unit 701, when the first virtual object VOB1 among the virtual objects VOB approaches a second real-space position (intersection 5c) which is displayed further back on the screen (e.g., image display surface 113a) of the display unit (e.g., stereoscopic display device 111 of the HUD device 100) than the first real-space position (intersection 5a) by a predetermined distance γ (e.g., 300 [m]) from the first real-space position (intersection 5a), displays a directional guidance image 7 The process includes the steps of displaying a first virtual object VOB1, which is c, at a second real-space location (intersection 5c) (ST301-ST304), and the steps of displaying a second virtual object VOB2, which is a non-directional guidance image 7a, at the first real-space location (intersection 5a) when the control unit 701 approaches the first real-space location (intersection 5a) by a second predetermined distance β (e.g., 60m) which is shorter than a first predetermined distance γ (e.g., 300m). When the control unit 701 displays the second virtual object VOB2, which is a non-directional guidance image 7a, at the first real-space position (intersection 5a) (step ST306), it controls the display unit (for example, the stereoscopic display device 111 of the HUD device 100) by changing the inclination of the non-directional guidance image 7a with respect to the road surface 6 (inclination angle θ shown in Figure 4) according to the current position of the vehicle 1.

[0079] According to the display control method of this embodiment, the control unit 701 controls the display unit (stereoscopic display device 111 of the HUD device 100 in Figure 1) to tilt the second virtual object VOB2, which is a non-directional guidance image 7a, toward the vehicle 1 side with respect to the road surface 6 (tilt angle θ) only when the vehicle 1 (own vehicle 8) approaches the first real-space position (intersection 5a) by a second predetermined distance β (for example, 60 [m]), as shown in Figure 4. (If the distance between the own vehicle 8 and the second real-space position (intersection 5a) is far (for example, greater than 60 [m]), the non-directional guidance image 7a is not displayed.) This reduces the display area occupied by the second virtual object VOB2, which is the non-directional guidance image 7a, and opens up the forward view necessary for driving, thus reducing the inconvenience caused to the occupant (driver), who is the viewer 4. In addition, because the forward view is secured, it can contribute to safe driving.

[0080] The program of this embodiment is a program for a display control device 700 that includes a control unit 701 that controls a display unit (e.g., a stereoscopic display device 111 of a HUD device 100) that makes a viewer 4 riding in the vehicle 1 appear as if a virtual object VOB is located at a predetermined real-space position (intersection 5a, 5b, 5c, etc.) in front of the vehicle 1, as shown in Figure 1. The program is such that, as the vehicle 1 moves, for example, when the first virtual object VOB1 among the virtual objects VOB approaches a second real-space position (intersection 5c) that is displayed further back on the screen (image display surface 113a) of the display unit (e.g., a stereoscopic display device 111 of a HUD device 100) than the first real-space position (intersection 5a) by a predetermined distance γ (e.g., 300 [m]) from the first real-space position (intersection 5a). The system is instructed to perform the following steps: display a first virtual object VOB1, which is a directional guidance image 7c, at a second real-space location (intersection 5c) (steps ST301 to ST304); and, when vehicle 1 (own vehicle 8) approaches the first real-space location (intersection 5a) by a second predetermined distance β (for example, 60 [m]) shorter than a first predetermined distance γ, display a second virtual object VOB2, which is a non-directional guidance image 7a, at the first real-space location (intersection 5a) (steps ST305, ST306). Here, when displaying the second virtual object VOB2, which is a non-directional guidance image 7a, at the first real-space location (intersection 5a) (step ST306), the system is instructed to change the inclination (angle θ) of the non-directional guidance image 7a relative to the road surface 6 according to the current position of vehicle 1 (own vehicle 8) and display it on the display unit (for example, the stereoscopic display device 111 of the HUD device 100).

[0081] According to the program of this embodiment, the processor in the control unit 701 reads and executes the program stored in memory, and for example, as shown in Figure 4, when the vehicle 1 (own vehicle 8) approaches the first real-space position (intersection 5a) by a second predetermined distance β (e.g., 60 [m]), it controls the display unit (see the stereoscopic display device 111 of the HUD device 100 in Figure 1) to tilt the second virtual object VOB2, which is a non-directional guidance image 7a, toward the vehicle 1 (own vehicle 8) relative to the road surface 6 (if the distance between the own vehicle 8 and the second real-space position (intersection 5a) is far (e.g., more than 60 [m]), the display area occupied by the second virtual object VOB2, which is a non-directional guidance image 7a, can be reduced, and the forward view necessary for driving can be opened up, thus reducing the inconvenience caused to the occupant (driver), who is the viewer. Furthermore, since the forward view can be secured, a display control device 700 that contributes to safe driving can be provided.

[0082] The in-vehicle system of this embodiment is an in-vehicle system 3 that includes, for example, as shown in Figure 1, a navigation device 121 that generates a virtual object VOB and provides route guidance for the vehicle 1, and a display control device 700 that controls a display device (for example, a HUD device 100) that makes it appear to a viewer 4 riding in the vehicle 1 (vehicle 8) as if the virtual object VOB1 were located at a predetermined real-space position (intersection 5a, 5b, 5c, etc.) in front of the vehicle 1 (vehicle 8). In the in-vehicle system 3, the display control device 700, as the vehicle 1 moves, displays the first virtual object VOB1, which is a directional guidance image 7c, at the second real-space position (intersection 5c) when the vehicle 1 approaches the first real-space position (intersection 5a) by a predetermined distance γ (for example, 300 [m]) from the first real-space position (intersection 5a) to the second real-space position (intersection 5c), which is displayed further back on the screen of the display device (HUD device 100) (image display surface 113a of the image display unit 113). The first control unit 701a displays the first virtual object VOB1, which is a directional guidance image 7c, at the second real-space position (intersection 5c). The system includes a second control unit 701b that displays a second virtual object VOB2, which is a non-directional guidance image 7c, at the first real-space location (intersection 5a) when the vehicle approaches the first real-space location (intersection 5a) by a second predetermined distance β (e.g., 60 m) which is shorter than a first predetermined distance γ (e.g., 300 m). The second control unit 701b controls the display of the second virtual object VOB2, which is a non-directional guidance image 7a, at the first real-space location (intersection 5a) by changing the inclination of the non-directional guidance image 7a with respect to the road surface 6 (see angle θ in Figure 4) according to the current position of the vehicle 1 (own vehicle 8) and displaying it on a display device (e.g., HUD device 100).

[0083] According to the in-vehicle system 3 of this embodiment, the display control device 700 controls the display unit (e.g., HUD device 100) to tilt the second virtual object VOB2, which is a non-directional guidance image 7a, toward the vehicle 1 (vehicle 8) with respect to the road surface 6, and displays it only when the vehicle 1 (own vehicle 8) approaches the first real-space position (intersection 5a) by a second predetermined distance β (e.g., 60 [m]), as shown in Figure 4 (the non-directional guidance image 7a is not displayed when the distance between the own vehicle 8 and the second real-space position (intersection 5a) is far (e.g., more than 60 [m])). This reduces the display area occupied by the second virtual object VOB2, which is the non-directional guidance image 7a, and opens up the forward view necessary for driving. This reduces the inconvenience caused to the occupant (driver), who is the viewer 4, and ensures a clear forward view, thus providing an in-vehicle system 3 that contributes to safe driving.

[0084] The present invention is not limited to the exemplary embodiments described above, and those skilled in the art will be able to easily modify the exemplary embodiments described above to the extent included in the claims. [Explanation of symbols]

[0085] 1...Vehicle, 2...Windshield (projected element), 3...In-vehicle system, 4...Viewer (occupant), 5a, 5b...Intersection (first real-space location), 5c...Intersection (second real-space location), 6...Road surface, VOB...Virtual object, VOB1...First virtual object (direction guidance image 7c), VOB2...Second virtual object (non-direction guidance image 7b), 43...Pupil imaging camera, 45...Surrounding imaging camera, 46...Image processing unit, 47...Distance measuring unit, 48...Target object type Class / size detection unit, 100...HUD device, 111...3D display device, 112...Image generation unit, 113...Image display unit, 113a...Image display surface, 114...Light beam separation unit, 116...Optical unit, 117...Curved mirror, 118...Light emission window, 119...Information acquisition unit, 120...ECU, 121...Navigation device, 123...Communication unit, 125...Radar unit, 700...Display control device, 701...Control unit, 701a...First control unit, 701b...Second control unit

Claims

1. A display control device comprising a control unit that controls a display unit that causes a viewer riding in a vehicle to perceive a virtual object as existing at a predetermined real-space position in front of the vehicle, The control unit, As the vehicle moves, if the first virtual object among the virtual objects approaches a first predetermined distance from the first real-space position to a second real-space position which is displayed further back on the display unit's screen than the first real-space position, the first control unit displays the first virtual object, which is a direction guide image, at the second real-space position. The system includes a second control unit that, when the vehicle approaches the first real-space position by a second predetermined distance shorter than the first predetermined distance, displays a second virtual object, which is a non-directional guidance image, at the first real-space position. The second control unit is, A display control device that, when displaying the second virtual object at the first real-space position, controls the inclination of the non-directional guidance image with respect to the road surface according to the current position of the vehicle and displays it on the display unit.

2. The first virtual object is, The directional guidance image is displayed on a road at a second real-space location where it is necessary to guide the vehicle in the direction of travel. The second virtual object is, The display control device according to claim 1, wherein the non-directional guidance image is displayed for a road at a first real-space location that is not subject to route guidance and does not require guidance on the direction of travel of the vehicle.

3. The second control unit is, The display control device according to claim 1, wherein when the vehicle approaches the first real-space position by a third predetermined distance shorter than the second predetermined distance, the device controls the inclination of the second virtual object with respect to the road surface to be closer to perpendicular.

4. The second control unit is, The display control device according to claim 1, which controls the inclination of the second virtual object, which is a non-directional guidance image whose size is predetermined according to the distance between the vehicle and the second real-space position, with respect to the road surface, thereby maintaining a constant horizontal field of view of the second virtual object as seen by the viewer.

5. A head-up display device that causes a viewer riding in a vehicle to perceive a virtual object as being located at a predetermined real-space position in front of the vehicle, An image display unit that superimposes the virtual object onto the foreground of the vehicle, It has a control unit that controls the display unit, The control unit, As the vehicle moves, if the first virtual object among the virtual objects approaches a first predetermined distance from the first real-space position to a second real-space position which is displayed further back on the screen of the image display unit than the first real-space position, the first control unit displays the first virtual object, which is a direction guide image, at the second real-space position. The system includes a second control unit that, when the vehicle approaches the first real-space position by a second predetermined distance shorter than the first predetermined distance, displays a second virtual object, which is a non-directional guidance image, at the first real-space position. The second control unit is, A head-up display device that, when displaying the second virtual object, controls the inclination of the non-directional guidance image relative to the road surface according to the current position of the vehicle and displays it on the image display unit.

6. A display control method using a display control device having a display unit that causes a viewer riding in a vehicle to perceive a virtual object as existing at a predetermined real-space position in front of the vehicle, and a control unit that controls the display unit, The control unit, As the vehicle moves, if the first virtual object among the virtual objects approaches a first predetermined distance from the first real-space position to a second real-space position which is displayed further back on the display unit's screen than the first real-space position, the first virtual object, which is a directional guidance image, is displayed at the second real-space position. The control unit, When the vehicle approaches the first real-space position by a second predetermined distance shorter than the first predetermined distance, the step of displaying a second virtual object, which is a non-directional guidance image, at the first real-space position; The control unit, A display control method comprising the step of performing control to display the second virtual object at the first real space position by changing the inclination of the non-directional guidance image with respect to the road surface according to the current position of the vehicle and displaying it on the display unit.

7. A program for a display control device, which includes a control unit that controls a display unit that causes a viewer riding in a vehicle to perceive a virtual object as being located at a predetermined real-space position in front of the vehicle, The processor in the control unit, As the vehicle moves, if the first virtual object among the virtual objects approaches a second real-space position, which is displayed further back on the display unit's screen than the first real-space position, by a predetermined distance from the first real-space position, the process of displaying the first virtual object, which is a directional guidance image, at the second real-space position, When the vehicle approaches the first real-space position by a second predetermined distance shorter than the first predetermined distance, the process of displaying a second virtual object, which is a non-directional guidance image, at the first real-space position, A program that performs a process to display the second virtual object at the first real-space position, by controlling the display unit to change the inclination of the non-directional guidance image relative to the road surface according to the current position of the vehicle.

8. An in-vehicle system comprising: a navigation device that generates virtual objects and provides route guidance for a vehicle; and a display control device that controls a display device that causes a viewer riding in the vehicle to perceive the virtual objects as being located at a predetermined real-space position in front of the vehicle, The aforementioned display control device is As the vehicle moves, when the first virtual object among the virtual objects generated by the navigation device approaches a second real-space position, which is displayed further back on the display device screen than the first real-space position, by a predetermined distance from the first real-space position, the first control unit displays the first virtual object, which is a directional guidance image, at the second real-space position. The system includes a second control unit that, when the vehicle approaches the first real-space position by a second predetermined distance shorter than the first predetermined distance, displays a second virtual object, which is a non-directional guidance image, at the first real-space position. The second control unit is, An in-vehicle system that, when displaying the second virtual object at the first real-space position, controls the inclination of the non-directional guidance image with respect to the road surface according to the current position of the vehicle and displays it on the display device.

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