Virtual Image Display Device

Abstract

To provide a virtual image display device that enables a driver to promptly recognize existence of a risk target that is approaching his / her vehicle and its moving state.SOLUTION: A virtual image display device includes a reporting target information acquisition unit that recognizes a person approaching its own vehicle among surrounding traffic participants as a reporting target and acquires reporting target information about a moving state of this reporting target, and a display control device that displays a virtual image 8 generated on the basis of the reporting target information in a display area 80 including a mirror image 9M of the reporting target in a right exterior rear view mirror 51R. The reporting target information acquisition unit acquires reporting target information, including a relative speed of the reporting target to the own vehicle. When the reporting target is recognized, the display control device displays a highlight image 81 highlighting the presence of the reporting target and a speed figure image 82 generated on the basis of the reporting target information in the right exterior rear view mirror 51R, and changes a form of the speed figure image 82 according to the relative speed.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a virtual image display device, and more particularly to a virtual image display device that displays an image of a subject to be notified, which is a nearby traffic participant, on a display unit provided in a position visible to a driver. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable traffic participants have become more active. To achieve this, we are focusing on research and development into driver assistance technologies that help drivers recognize their surroundings, thereby further improving road safety and convenience.

[0003] In the driving assistance technology shown in Patent Document 1, when there is an obstacle around the vehicle that may come into contact with the vehicle (hereinafter also referred to as a "risk object"), the driver is alerted to this risk object, thereby assisting the driver in recognizing the surrounding risk object. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5691237 Summary of the Invention [Problem to be solved by the invention]

[0005] The driving assistance technology disclosed in Patent Document 1 warns the driver about risk objects by displaying an image on a display, providing audio guidance, etc. Therefore, although the driver who receives the warning can quickly recognize the existence of the risk object and its general location, he or she cannot quickly recognize how the risk object is specifically approaching the vehicle. Therefore, since the driver who receives the warning cannot quickly recognize the location of the risk object in the near future, he or she may not be able to quickly determine how to specifically operate the vehicle to avoid contact with the risk object.

[0006] The present invention aims to provide a virtual image display device that allows drivers to quickly recognize the presence of risk objects approaching their vehicle and their movement status, and ultimately to contribute to the development of sustainable transportation systems. [Means for solving the problem]

[0007] (1) The virtual image display device of the present invention comprises an external environment recognition device that recognizes surrounding traffic participants present around the vehicle; a display unit provided in a position visible to the driver of the vehicle; a notification target information acquisition unit that recognizes those surrounding traffic participants approaching the vehicle as notification targets and acquires notification target information relating to the movement state of the notification target; and a display control device that displays an image generated based on the notification target information in a display area of ​​the display unit that includes a notification target image associated with the notification target, wherein the notification target information acquisition unit acquires the notification target information including the relative speed of the notification target with respect to the vehicle, and the display control device, when the notification target is recognized by the notification target information acquisition unit, displays on the display unit a highlight image that emphasizes the presence of the notification target on the display unit and a speed graphic image generated based on the notification target information, and changes the form of the speed graphic image according to the relative speed.

[0008] (2) In this case, it is preferable that the velocity graphic image has an arrow shape extending from a base end to a tip end, and that the display control device changes the inclination of the velocity graphic image in accordance with the relative velocity.

[0009] (3) In this case, it is preferable that the velocity graphic image is arrow-shaped extending from the base end to the tip, and that the display control device changes at least one of the following forms according to the relative velocity: the inclination of the velocity graphic image, the thickness of the velocity graphic image, the length of the velocity graphic image, the color of the velocity graphic image, the radius of curvature of the velocity graphic image, and the blinking period of the velocity graphic image.

[0010] (4) In this case, it is preferable that the notification target information acquisition unit acquires the notification target information including a first relative speed of the notification target relative to the host vehicle at the present or in the past, and a second relative speed of the notification target relative to the host vehicle in the future a predetermined time from the present, and that the display control device displays a first speed graphic image generated based on the first relative speed and a second speed graphic image generated based on the second relative speed in the display area.

[0011] (5) In this case, it is preferable that the display control device simultaneously displays the first and second velocity graphic images in the display area while matching the position of the tip end of the first velocity graphic image with the position of the base end of the second velocity graphic image.

[0012] (6) In this case, it is preferable that the display control device alternately displays the first speed graphic image and the second speed graphic image in the display area.

[0013] (7) In this case, it is preferable that the highlight image is a graphic image having a different shape from the velocity graphic image, and that the display control device displays the highlight image in the display area so that it overlaps with at least a portion of the image to be notified.

[0014] (8) In this case, it is preferable that the display unit includes an exterior rearview mirror provided outside the passenger compartment of the vehicle or an interior rearview mirror provided inside the passenger compartment of the vehicle, and that the display control device sets the portion of the exterior rearview mirror or the interior rearview mirror where the mirror image of the object to be notified is visible to the driver as the display area, and displays the highlight image and the speed graphic image in the display area.

[0015] (9) In this case, it is preferable that the display unit includes a windshield, and that the display control device sets the part of the windshield where the real image of the object to be notified is visible to the driver as the display area, and displays the highlight image and the speed graphic image in the display area.

[0016] (10) In this case, the display unit includes a monitor provided in the vehicle interior, It is preferable that the display control device sets a portion of the monitor where a notification object image associated with the notification object is displayed as the display area, and displays the highlight image and the speed graphic image in the display area. [Effects of the Invention]

[0017] (1) In the present invention, the notification target information acquisition unit recognizes nearby traffic participants approaching the vehicle as a notification target, acquires notification target information regarding the movement state of the notification target, and displays an image generated based on the notification target information in a display area of ​​the display unit that includes the notification target image. In particular, in the present invention, the notification target information acquisition unit acquires notification target information including the relative speed of the notification target relative to the vehicle, and when the display control device recognizes the notification target, the display unit displays a highlight image that emphasizes the presence of the notification target on the display unit and a speed graphic image whose shape changes depending on the relative speed. Thus, in the present invention, by narrowing down the notification targets to only those nearby traffic participants approaching the vehicle, the annoyance felt by the driver can be reduced compared to when all nearby traffic participants are notification targets. Furthermore, in the present invention, by displaying a highlight image and a speed graphic image whose shape changes depending on the relative speed in a display area that includes the notification target image on the display unit, the driver can intuitively and quickly recognize not only the presence of the notification target but also its relative speed. Therefore, according to the present invention, driving operations to avoid contact between the vehicle and the object to be notified can be initiated more quickly than before, thereby contributing to the development of sustainable transportation systems.

[0018] (2) In the present invention, the display control device changes the inclination of the arrow-shaped speed graphic image according to the relative speed between the vehicle and the object to be notified. Therefore, the driver can recognize the relative speed simply by checking the inclination of the speed graphic image displayed on the display unit, and can more quickly recognize the relative speed of the object to be notified.

[0019] (3) In the present invention, the display control device can enable the driver to recognize the relative speed even more quickly by changing at least one of the following aspects of the arrow-shaped speed graphic image: the inclination, thickness, length, color, radius of curvature, and blinking period according to the relative speed.

[0020] (4) In the present invention, the notification target information acquisition unit acquires notification target information including a first relative speed of the notification target relative to the host vehicle in the present or past and a second relative speed of the notification target relative to the host vehicle in the future, and the display control device displays a first speed graphic image generated based on the first relative speed and a second speed graphic image generated based on the second relative speed in the display area. This allows the driver to quickly recognize the future relative speed as well, and therefore allows the driver to quickly start appropriate driving operations to avoid contact between the notification target and the host vehicle.

[0021] (5) In the present invention, the display control device simultaneously displays the first and second arrow-shaped speed graphic images while aligning the tip of the first arrow-shaped speed graphic image with the base of the second arrow-shaped speed graphic image. This allows the driver to quickly recognize changes in the movement state of the object to be notified in the present, past, and future, and therefore allows the driver to quickly initiate appropriate driving operations to avoid contact between the object to be notified and the vehicle.

[0022] (6) In the present invention, the display control device alternately displays the first speed graphic image and the second speed graphic image in the display area, allowing the driver to intuitively recognize how the movement state of the object to be notified will change from the present or past to the future, and therefore allowing the driver to quickly initiate appropriate driving operations to avoid contact between the object to be notified and the vehicle.

[0023] (7) In the present invention, the display control device displays a highlight image so that it overlaps with at least a portion of the image of the notification target displayed on the display unit, thereby allowing the driver to quickly recognize the presence of an approaching notification target from among multiple surrounding traffic participants.

[0024] (8) In general, it may be difficult to recognize the presence and relative speed of a target simply by looking at its image in an exterior rearview mirror or an interior rearview mirror. To address this issue, the display control device sets a portion of the exterior rearview mirror or the interior rearview mirror where the driver can see the target's image as a display area, and displays a highlight image or a speed graphic image in this display area. This allows the driver to intuitively and quickly grasp the presence and relative speed of a target approaching their vehicle simply by looking at the exterior rearview mirror or the interior rearview mirror.

[0025] (9) The driver can see nearby traffic participants ahead of the vehicle through the windshield. However, when there are multiple nearby traffic participants, or when the nearby traffic participants are smaller vehicles such as bicycles or motorcycles, the driver may have difficulty recognizing their presence and relative speed. To address this issue, the display control device designates a portion of the windshield where the real image of the target to be notified is visible to the driver as a display area, and displays a highlight image or a speed diagram image in this display area. This allows the driver to intuitively and quickly grasp the presence of a target to be notified approaching the vehicle and its relative speed while looking ahead.

[0026] (10) When a monitor installed in the vehicle cabin displays notification target images associated with multiple surrounding traffic participants, it is difficult for the driver to recognize which of these multiple surrounding traffic participants is approaching the vehicle. Furthermore, displaying the relative speed of each surrounding traffic participant on the monitor can clutter the monitor's display screen. In response to this, the display control device designates the portion of the monitor where the notification target images associated with the notification target are displayed as a display area, and displays a highlight image and a speed graphic image in this display area. This allows the driver to intuitively and quickly grasp the presence of a notification target approaching the vehicle and its relative speed simply by looking at the monitor. [Brief explanation of the drawings]

[0027] [Figure 1]1 is a diagram schematically illustrating the configuration of a virtual image display device according to an embodiment of the present invention and a vehicle equipped with the virtual image display device; [Figure 2] 1 is a diagram showing an example of a mirror surface of a right exterior rearview mirror used as a display unit as viewed from a driver. FIG. [Figure 3] 3 is a diagram showing a first example of a virtual image displayed on the mirror surface of the right exterior rearview mirror under the situation shown in FIG. 2.

[0023] FIG. [Figure 4] FIG. 10 is a diagram showing the relationship between the current relative speed and the slope of the speed graphic image. [Figure 5] 3 is a diagram showing a second example of a virtual image displayed on the mirror surface of the right exterior rearview mirror under the situation shown in FIG. 2. FIG. [Figure 6] 10A and 10B are diagrams showing examples of displaying a current speed graphic image and a future speed graphic image when the future relative speed is higher than the current relative speed; [Figure 7] 10A and 10B are diagrams showing examples of displaying a current velocity graphic image and a future velocity graphic image when the future relative velocity is lower than the current relative velocity and is less than 0. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0028] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A virtual image display device according to an embodiment of the present invention will be described below with reference to the drawings.

[0029] 1 is a diagram showing a schematic configuration of a virtual image display device 1 according to this embodiment and a vehicle V (hereinafter simply referred to as "vehicle V") equipped with this virtual image display device 1. In the following, the vehicle V will be described as a so-called right-hand drive four-wheel vehicle in which the driver's seat is located on the right side in the vehicle width direction as viewed along the direction of travel, but the present invention is not limited to this. The vehicle may also be a so-called left-hand drive four-wheel vehicle in which the driver's seat is located on the left side in the vehicle width direction as viewed along the direction of travel.

[0030] The virtual image display device 1 displays images of traffic participants present around the vehicle V on a display unit provided in a position visible to the driver of the vehicle V, thereby assisting the driver in recognizing the presence of surrounding traffic participants. Note that the following description will be given of a case in which the virtual image display device 1 is mounted on the vehicle V, which is a four-wheeled automobile as shown in FIG. 1, but the present invention is not limited to this. The present invention may also be mounted on vehicles other than four-wheeled automobiles, such as trucks and saddle-ride vehicles. Furthermore, when mounted on a vehicle, particularly a saddle-ride vehicle, the virtual image display device may be mounted on a helmet worn by the rider, who is the driver. Furthermore, in this embodiment, traffic participants refer to vehicles, pedestrians, and other people who move based on their own will.

[0031] The virtual image display device 1 includes an on-board external environment recognition device 2 that recognizes traffic participants (hereinafter also referred to as "surrounding traffic participants") present around the vehicle V (including in front of, behind, and on both sides of the vehicle V in the direction of travel), a notification target information acquisition unit 3 that acquires notification target information regarding the movement state of one or more notification targets selected from one or more surrounding traffic participants recognized by the on-board external environment recognition device 2, a host vehicle information acquisition unit 4 that acquires host vehicle information regarding the movement state of the vehicle V, a right exterior rearview mirror 51R and a left exterior rearview mirror 51L as display units provided outside the cabin of the vehicle V in positions visible to the driver, and a display control device 6 that displays virtual images generated based on the notification target information on these exterior rearview mirrors 51R, 51L.

[0032] The in-vehicle external environment recognition device 2 includes camera units 21a and 21b, a plurality of (e.g., five) lidar units 22a, 22b, 22c, 22d, and 22e, a plurality of (e.g., five) radar units 23a, 23b, 23c, 23d, and 23e, and a surroundings recognition device 24.

[0033] The front camera unit 21a and the rear camera unit 21b are equipped with digital cameras that use solid-state imaging elements such as CCDs (Charge Coupled Devices) or CMOSs ​​(Complementary Metal Oxide Semiconductors), and capture images of the areas in front of and behind the vehicle V. These camera units 21a and 21b are attached to the passenger compartment, for example, on the roof of the vehicle V, facing forward and backward, respectively. The images captured by these camera units 21a and 21b are transmitted to the surroundings recognition device 24.

[0034] The lidar units 22a to 22e are light detection and ranging (LIDAR) lidars that detect objects around the vehicle V by measuring scattered light from the objects in response to pulsed laser irradiation. The first lidar unit 22a is provided in the right corner of the front of the vehicle V as viewed in the direction of travel, and detects objects in front of and slightly to the right of the vehicle V. The second lidar unit 22b is provided in the left corner of the front of the vehicle V as viewed in the direction of travel, and detects objects in front of and slightly to the left of the vehicle V. The third lidar unit 22c is provided in the center of the rear of the vehicle V in the vehicle width direction, and detects objects in the rear of the vehicle V. The fourth lidar unit 22d is provided in the rear of the right side of the vehicle V, and detects objects in the rear of the vehicle V on the right side. The fifth lidar unit 22e is provided in the rear of the left side of the vehicle V, and detects objects in the rear of the vehicle V on the left side. Detection signals from these lidar units 22a to 22e are transmitted to the surrounding recognition device 24.

[0035] The radar units 23a to 23e are millimeter-wave radars that detect objects around the vehicle V by measuring waves reflected from the objects in response to millimeter-wave irradiation. The first radar unit 23a is provided in the right corner of the front of the vehicle V as viewed in the direction of travel, and detects objects slightly forward and to the right around the vehicle V. The second radar unit 23b is provided in the left corner of the front of the vehicle V as viewed in the direction of travel, and detects objects slightly forward and to the left around the vehicle V. The third radar unit 23c is provided in the center of the front of the vehicle V in the vehicle width direction, and detects objects in front of the vehicle V as viewed in the direction of travel. The fourth radar unit 23d is provided in the right corner of the rear of the vehicle V as viewed in the direction of travel, and detects objects slightly rearward and to the right around the vehicle V. The fifth radar unit 23e is provided in the left corner of the rear of the vehicle V as viewed in the direction of travel, and detects objects slightly rearward and to the left around the vehicle V. Detection signals from these radar units 23a to 23e are transmitted to the surrounding recognition device 24.

[0036] The surrounding recognition device 24 recognizes one or more surrounding traffic participants by performing sensor fusion processing on the detection results from the camera units 21a and 21b, the lidar units 22a to 22e, and the radar units 23a to 23e, and acquires surrounding traffic participant information relating to the type and movement state (i.e., position, movement direction, movement speed, movement acceleration, etc.) of each surrounding traffic participant. The surrounding recognition device 24 transmits information relating to the recognition results of the surrounding traffic participants, i.e., the acquired surrounding traffic participant information, to the notification target information acquisition unit 3.

[0037] The subject vehicle information acquisition unit 4 acquires subject vehicle information relating to the moving state (i.e., position, moving direction, moving speed, moving acceleration, etc.) of the vehicle V. The subject vehicle information acquisition unit 4 transmits the acquired subject vehicle information to the notification target information acquisition unit 3.

[0038] The notification target information acquisition unit 3 recognizes one or more of the one or more surrounding traffic participants recognized by the surrounding recognition device 24 as notification targets based on the surrounding traffic participant information transmitted from the surrounding recognition device 24 of the in-vehicle external environment recognition device 2 and the vehicle information transmitted from the vehicle information acquisition unit 4, and acquires notification target information regarding the movement state of these notification targets.

[0039] More specifically, the notification target information acquisition unit 3 identifies the position, movement speed, and movement direction of each surrounding traffic participant based on the surrounding traffic participant information, determines whether each surrounding traffic participant is approaching vehicle V based on the position, movement speed, and movement direction, and recognizes only those of all surrounding traffic participants that are determined to be approaching vehicle V as notification targets. Here, the notification target information acquisition unit 3 determines that, of all surrounding traffic participants, for example, a surrounding traffic participant moving from ahead of vehicle V in the traveling direction toward vehicle V, a surrounding traffic participant moving from behind vehicle V in the traveling direction toward vehicle V at a faster speed than vehicle V, and a surrounding traffic participant that is ahead of vehicle V in the traveling direction and is about to cross in front of vehicle V are approaching vehicle V and recognizes them as notification targets.

[0040] Next, the notification target information acquisition unit 3 acquires notification target information relating to the movement state of each notification target recognized by the above procedure, based on the surrounding traffic participant information and the host vehicle information. More specifically, the notification target information acquisition unit 3 calculates the relative speed of each notification target relative to the vehicle V at present or in the past (hereinafter also referred to as "current relative speed") and the relative speed of each notification target relative to the vehicle V in the future, a predetermined time (for example, several seconds) from the present (hereinafter also referred to as "future relative speed"), based on the surrounding traffic participant information and the host vehicle information.

[0041] More specifically, the notification target information acquisition unit 3 extracts, for example, the current or past moving speed and moving direction of each notification target and vehicle V from the surrounding traffic participant information and the host vehicle information, and calculates the current relative speed based on these current or past moving speeds and moving directions. The notification target information acquisition unit 3 also extracts, for example, the current or past moving acceleration of each notification target and vehicle V from the surrounding traffic participant information and the host vehicle information, calculates the future moving speed of each notification target and vehicle V based on these moving accelerations, and further calculates the future relative speed based on these future moving speeds.

[0042] Hereinafter, the current relative speed and future relative speed calculated for each notification target by the above procedure in the notification target information acquisition unit 3 will be collectively referred to as notification target information. When the notification target information acquisition unit 3 recognizes at least one notification target from one or more surrounding traffic participants, it transmits notification target information including the current relative speed and future relative speed for each notification target to the display control device 6.

[0043] When the notification target information acquisition unit 3 recognizes a notification target, the display control device 6 generates a virtual image based on the notification target information to encourage the driver to quickly and appropriately recognize the notification target, and displays the generated virtual image on a display unit located in a position visible to the driver in the vehicle V.

[0044] In this embodiment, the display control device 6 uses the vehicle exterior rearview mirrors 51R, 51L as display units, and displays virtual images on these vehicle exterior rearview mirrors 51R, 51L, but the present invention is not limited to this.

[0045] Fig. 2 is a diagram showing an example of the mirror surface of the right exterior rearview mirror 51R as viewed from the driver. The following describes the procedure for displaying a virtual image on the right exterior rearview mirror 51R by the display control device 6, assuming that one of multiple surrounding traffic participants, a vehicle traveling to the right rear of vehicle V in the traveling direction, is recognized as a target to be notified, and that a mirror image 9M of this target to be notified is reflected on the mirror surface of the right exterior rearview mirror 51R, as shown in Fig. 2. This other vehicle is traveling to the right rear of vehicle V in the traveling direction and is approaching vehicle V at a faster speed than vehicle V, and is therefore recognized as a target to be notified by the notifiable object information acquisition unit 3.

[0046] When at least one notification target is recognized by the notification target information acquisition unit 3, the display control device 6 generates a virtual image for each notification target based on the notification target information and displays the generated virtual image in a display area of ​​the display unit that is defined to include the notification target image associated with each notification target. In the present embodiment in which the exterior rearview mirrors 51R, 51L are used as the display unit as described above, the display control device 6 defines a display area 80 so as to include the portion of the mirror surface of the exterior rearview mirrors 51R, 51L that is visible to the driver as shown in FIG. 2, and displays the generated virtual image in this display area 80.

[0047] Fig. 3 is a diagram showing a first example of the virtual image 8 displayed on the mirror surface of the right exterior rearview mirror 51R under the circumstances shown in Fig. 2. When an object to be notified is recognized, the display control device 6 displays the virtual image 8 including a highlight image 81 and a current speed graphic image 82 as shown in Fig. 3 within a display area 80 defined to include a mirror image 9M of the object to be notified.

[0048] The highlight image 81 is a graphic image that emphasizes the presence of the mirror image 9M of the notification target reflected in the exterior rearview mirrors 51R, 51L, and has a shape different from that of the speed graphic image 82. As shown in FIG. 3, the display control device 6 displays the highlight image 81 in the display area 80 so that it overlaps with at least a portion of the mirror image 9M. More specifically, the shape of the highlight image 81 is, for example, an ellipse as shown in FIG. 3, and the color of the highlight image 81 is, for example, a translucent red. This allows the driver to quickly recognize the presence and position of the mirror image 9M of the notification target reflected in the exterior rearview mirrors 51R, 51L.

[0049] As described above, in this embodiment, the display control device 6 displays the highlight image 81 that is elliptical, transparent, and red in the display area 80, but the present invention is not limited to this. The highlight image 81 may have any shape as long as it is a graphic image that emphasizes the presence of the mirror image 9M of the notification target reflected in the exterior rearview mirrors 51R, 51L and has a shape different from that of the speed graphic image 82. The shape of the highlight image 81 can be freely set by the driver through a predetermined setting operation.

[0050] The speed graphic image 82 is an arrow-shaped graphic image extending from the base end to the tip end, as exemplified in Fig. 3. The display control device 6 displays the speed graphic image 82 generated based on the notification target information within the display area 80 and slightly above the mirror image 9M of the notification target, as exemplified in Fig. 3. The display control device 6 also acquires the current relative speed of the notification target from the notification target information, and changes the shape of the arrow-shaped speed graphic image 82, more specifically, the inclination of the speed graphic image 82, in accordance with this current relative speed. In other words, the speed graphic image 82 is a graphic image that indicates the relative speed of the notification target with respect to the vehicle V by its inclination.

[0051] 4 is a diagram showing the relationship between the current relative speed and the slope of the speed graphic image 82. As shown in Fig. 4, the display control device 6, for example, causes the slope of the speed graphic image 82 to approach 0 as the current relative speed of the object to be notified approaches 0, and increases the slope of the speed graphic image 82 to the positive side as the current relative speed of the object to be notified increases. This allows the driver to intuitively and quickly recognize the relative speed of the object to be notified just by looking at the speed graphic image 82.

[0052] In this embodiment, the display control device 6 changes only the slope of the velocity graphic image 82, which is made up of the slope, thickness, color, radius of curvature, and blinking cycle, in accordance with the relative speed, but the present invention is not limited to this. The display control device 6 may change at least one of the slope, thickness, length, color, radius of curvature, and blinking cycle of the velocity graphic image 82 in accordance with the relative speed.

[0053] When changing the thickness of the speed graphic image 82 in accordance with the relative speed, the display control device 6 may, for example, make the speed graphic image 82 thinner as the relative speed of the target to be notified approaches 0, and may make the speed graphic image 82 thicker as the relative speed of the target to be notified increases. When changing the length of the speed graphic image 82 in accordance with the relative speed, the display control device 6 may, for example, make the speed graphic image 82 shorter as the relative speed of the target to be notified approaches 0, and may make the speed graphic image 82 longer as the relative speed of the target to be notified increases. When changing the color of the speed graphic image 82 in accordance with the relative speed, the display control device 6 may, for example, make the speed graphic image 82 closer to a less noticeable color (for example, green) as the relative speed of the target to be notified approaches 0, and may make the speed graphic image 82 closer to a more noticeable color (for example, red) as the relative speed of the target to be notified increases. When the display control device 6 changes the radius of curvature of the speed graphic image 82 in accordance with the relative speed, it may, for example, increase the radius of curvature of the speed graphic image 82 as the relative speed of the target to be notified approaches 0, and decrease the radius of curvature of the speed graphic image 82 as the relative speed of the target to be notified increases. When the display control device 6 changes the blinking cycle of the speed graphic image 82 in accordance with the relative speed, it may, for example, increase the blinking cycle of the speed graphic image 82 as the relative speed of the target to be notified approaches 0, and decrease the blinking cycle of the speed graphic image 82 as the relative speed of the target to be notified increases. In the display control device 6, the form of the speed graphic image 82 that is changed in accordance with the relative speed can be freely set by the driver via a predetermined setting operation.

[0054] When the object to be notified is recognized, the display control device 6 displays a virtual image 8 including a highlight image 81 and a speed graphic image 82 generated by the above-described procedure on the exterior rearview mirrors 51R, 51L, thereby encouraging the driver to recognize the presence of the object to be notified and its relative speed.

[0055] FIG. 5 is a diagram showing a second example of the virtual image 8A displayed on the mirror surface of the right exterior rearview mirror 51R under the circumstances shown in FIG.

[0056] When both the current relative speed and the future relative speed of the target to be notified have been acquired by the notification target information acquisition unit 3 as described above, the display control device 6 may display in the display area 80 a virtual image 8A including both a current speed graphic image 83 generated based on the current relative speed and a future speed graphic image 84 generated based on the future relative speed, as exemplified in Fig. 5. Note that Fig. 5 shows a case where the future relative speed is higher than the current relative speed.

[0057] The current speed graphic image 83 and the future speed graphic image 84 are each arrow-shaped graphic images extending from the base end to the tip end, as exemplified in Fig. 5. The display control device 6 displays the speed graphic images 83, 84 generated based on the notification target information within the display area 80 and slightly above the mirror image 9M of the notification target, as exemplified in Fig. 5. The display control device 6 acquires the current relative speed of the notification target from the notification target information, and changes the shape of the arrow-shaped current speed graphic image 83, more specifically, the inclination of the current speed graphic image 83, in accordance with the current relative speed. The display control device 6 acquires the future relative speed of the notification target from the notification target information, and changes the shape of the arrow-shaped future speed graphic image 84, more specifically, the inclination of the future speed graphic image 84, in accordance with the future relative speed.

[0058] As explained with reference to Figure 4, the display control device 6, for example, brings the slope of the current speed graphic image 83 closer to 0 as the current relative speed of the object to be notified approaches 0, increases the slope of the current speed graphic image 83 towards the positive side as the current relative speed of the object to be notified increases, brings the slope of the future speed graphic image 84 closer to 0 as the future relative speed of the object to be notified approaches 0, and increases the slope of the future speed graphic image 84 towards the positive side as the future relative speed of the object to be notified increases.

[0059] In addition, in this embodiment, the display control device 6 will be described as displaying the current velocity graphic image 83 and the future velocity graphic image 84 simultaneously in the display area 80 while matching the position of the tip end of the current velocity graphic image 83 with the position of the base end of the future velocity graphic image 84, as illustrated in Figure 5, but the present invention is not limited to this.

[0060] The display control device 6 may alternately display the current speed graphic image 83 and the future speed graphic image 84 generated as described above at the same position within the display area 80 at predetermined time intervals. At this time, the display control device 6 may use so-called morphing to continuously switch from the current speed graphic image 83 to the future speed graphic image 84. That is, when switching from the current speed graphic image 83 to the future speed graphic image 84, the display control device 6 may continuously switch from the current speed graphic image 83 to the future speed graphic image 84 by sequentially displaying a plurality of intermediate state graphic images generated by combining these two speed graphic images 83, 84.

[0061] In this embodiment, the display control device 6 changes only the slope of each of the speed graphic images 83, 84, which are composed of the slope, thickness, color, radius of curvature, and blinking cycle, in accordance with the relative speed, but the present invention is not limited to this. The display control device 6 may also change at least one of the slope, thickness, length, color, radius of curvature, and blinking cycle of each speed graphic image 83, 84 in accordance with the relative speed. In this case, the display control device 6 may change different forms for the current speed graphic image 83 and the future speed graphic image 84.

[0062] FIG. 6 is a diagram showing an example of display of a current speed graphic image 83 and a future speed graphic image 84 when the future relative speed is higher than the current relative speed.

[0063] 6, the display control device 6 may change only the slope of the current speed graphic image 83 in accordance with the current relative speed, and change both the slope and the blinking cycle of the future speed graphic image 84 in accordance with the future relative speed, thereby emphasizing an increase in the future relative speed.

[0064] 6, the display control device 6 may change both the inclination and color of the current speed graphic image 83 in accordance with the current relative speed, and change both the inclination and color of the future speed graphic image 84 in accordance with the future relative speed, thereby emphasizing an increase in the future relative speed.

[0065] 6, the display control device 6 may change only the inclination of the current speed graphic image 83 in accordance with the current relative speed, and change only the radius of curvature of the future speed graphic image 84 in accordance with the future relative speed, thereby emphasizing an increase in the future relative speed.

[0066] FIG. 7 is a diagram showing an example of display of a current speed graphic image 83 and a future speed graphic image 84 when the future relative speed is lower than the current relative speed and is less than zero.

[0067] 7, the display control device 6 may change only the slope of the current speed graphic image 83 in accordance with the current relative speed, and change both the slope and thickness of the future speed graphic image 84 in accordance with the future relative speed, thereby emphasizing a decrease in the future relative speed.

[0068] 7, the display control device 6 may change both the inclination and color of the current speed graphic image 83 in accordance with the current relative speed, and change both the inclination and color of the future speed graphic image 84 in accordance with the future relative speed, thereby emphasizing a decrease in the future relative speed.

[0069] 7, the display control device 6 may change only the inclination of the current speed graphic image 83 in accordance with the current relative speed, and change only the radius of curvature of the future speed graphic image 84 in accordance with the future relative speed, thereby emphasizing the decrease in the future relative speed.

[0070] The virtual image display device 1 according to this embodiment has the following advantages. (1) The notification target information acquisition unit 3 recognizes a nearby traffic participant approaching the vehicle V as a notification target and acquires notification target information related to the movement state of the notification target. The display control device 6 then displays a virtual image 8 generated based on the notification target information in a display area 80 in the exterior rearview mirrors 51R and 51L, the display area 80 being determined to encompass a mirror image 9M of the notification target. In particular, in this embodiment, the notification target information acquisition unit 3 acquires notification target information including the relative speed of the notification target relative to the vehicle V. When the notification target is recognized, the display control device 6 displays a highlight image 81 in the exterior rearview mirrors 51R and 51L that highlights the presence of the notification target and speed graphic images 82-84, the shape of which changes depending on the relative speed. In this manner, in this embodiment, by narrowing down the notification targets to only those nearby traffic participants approaching the vehicle V, the driver's annoyance can be reduced compared to when all nearby traffic participants are designated as notification targets. In this embodiment, a highlight image 81 and speed graphic images 82-84 whose form changes depending on the relative speed are displayed in a display area 80 including a mirror image 9M of the object to be notified reflected in the vehicle exterior rearview mirrors 51R, 51L, thereby enabling the driver to intuitively and quickly recognize not only the presence of the object to be notified but also the relative speed. Therefore, according to this embodiment, a driving operation to avoid contact between the vehicle V and the object to be notified can be started more quickly than before, which can also contribute to the development of a sustainable transportation system.

[0071] (2) In this embodiment, the display control device 6 changes the inclination of the arrow-shaped speed graphic images 82 to 84 according to the relative speed between the vehicle V and the object to be notified. Therefore, the driver can recognize the relative speed simply by checking the inclination of the speed graphic images 82 to 84 displayed in the exterior rearview mirrors 51R, 51L, and can therefore more quickly recognize the relative speed of the object to be notified.

[0072] (3) In this embodiment, the display control device 6 can change at least one of the following aspects of the arrow-shaped speed graphic images 82 to 84, namely, the inclination, thickness, length, color, radius of curvature, and blinking period, according to the relative speed, thereby enabling the driver to recognize the relative speed even more quickly.

[0073] (4) In this embodiment, the notification target information acquisition unit 3 acquires notification target information including the current or past relative speed of the notification target relative to the host vehicle and the future relative speed of the notification target relative to the host vehicle, and the display control device 6 displays a current speed graphic image 83 generated based on the current relative speed and a future speed graphic image 84 generated based on the future relative speed in the display area 80. This allows the driver to quickly recognize the future relative speed as well, and therefore allows the driver to quickly initiate appropriate driving operations to avoid contact between the notification target and vehicle V.

[0074] (5) In this embodiment, the display control device 6 simultaneously displays the arrow-shaped current speed graphic image 83 and the arrow-shaped future speed graphic image 84 while aligning the tip of the current speed graphic image 83 with the base of the future speed graphic image 84. This allows the driver to quickly recognize changes in the movement state of the object to be notified in the present, past, and future, and therefore allows the driver to quickly initiate appropriate driving operations to avoid contact between the object to be notified and the vehicle V.

[0075] (6) In this embodiment, the display control device 6 alternately displays the current speed graphic image 83 and the future speed graphic image 84 in the display area, allowing the driver to intuitively recognize how the movement state of the object to be notified will change from the present or past to the future, and therefore allowing the driver to quickly initiate appropriate driving operations to avoid contact between the object to be notified and the vehicle V.

[0076] (7) In this embodiment, the display control device 6 displays the highlight image 81 so that it overlaps with at least a portion of the mirror image 9M of the notification target reflected in the exterior rearview mirrors 51R, 51L, thereby allowing the driver to quickly recognize the presence of an approaching notification target from among multiple surrounding traffic participants.

[0077] (8) In general, it may be difficult to recognize the presence and relative speed of a target to be notified simply by looking at the mirror image 9M of the target to be notified reflected in the exterior rearview mirrors 51R, 51L. To address this, the display control device 6 determines the display area 80 so as to encompass the portion of the exterior rearview mirrors 51R, 51L where the mirror image 9M of the target to be notified is visible to the driver, and displays the highlight image 81 and speed graphic images 82-84 in this display area 80. This allows the driver to intuitively and quickly grasp the presence and relative speed of a target to be notified approaching the vehicle V simply by looking at the exterior rearview mirrors 51R, 51L.

[0078] Although one embodiment of the present invention has been described above, the present invention is not limited to this, and the detailed configuration may be modified as appropriate within the scope of the spirit of the present invention.

[0079] For example, in the above embodiment, the display control device 6 uses the exterior rearview mirrors 51R, 5L as display units, defines a display area 80 so as to encompass the portion of the mirror surface of these exterior rearview mirrors 51R, 51L where the mirror image 9M of the notification target is visible to the driver, and displays a virtual image within this display area 80, but the present invention is not limited to this.

[0080] The display control device may use an interior rearview mirror that is visible to the driver inside the vehicle as the display unit, define a display area on the mirror surface of the interior rearview mirror so as to include a portion where the mirror image of the notification target is visible to the driver, and display a virtual image within this display area. This allows the driver to intuitively and quickly grasp the presence of the notification target approaching their vehicle and its relative speed simply by looking at the interior rearview mirror.

[0081] The display control device may use the windshield provided in front of the driver as a display unit, define a display area to include a portion of the windshield where the real image of the notification target is visible to the driver, and display a virtual image within this display area. This allows the driver to intuitively and quickly grasp the presence of a notification target approaching their vehicle and its relative speed while looking ahead.

[0082] The display control device may also use a monitor installed in the vehicle cabin as a display unit, define a display area to include a portion of the monitor where an image of the notification target associated with the notification target is displayed, and display a virtual image within this display area. This allows the driver to intuitively and quickly grasp the presence of a notification target approaching the vehicle and its relative speed simply by looking at the monitor.

[0083] In the above embodiment, the on-board external environment recognition device 2 recognizes the traffic participants around the vehicle V based on information acquired using on-board sensors that move together with the vehicle V, such as the camera units 21a-21b and the lidar units 22a-22e, but the present invention is not limited to this. The on-board external environment recognition device 2 may recognize the traffic participants around the vehicle V based on information acquired via vehicle-to-vehicle communication between the vehicle V and the traffic participants, wireless communication between the vehicle V and a traffic management server, or the like. [Explanation of symbols]

[0084] V...Vehicle 1...Virtual image display device 2…In-vehicle external world recognition device (external world recognition device) 3...Notification target information acquisition unit 4... Vehicle information acquisition unit 51R…Right car exterior rearview mirror 51L…Left car exterior rear view mirror 6...Display control device 8,8A...Virtual image 80…display area 81...Highlight image 82,83...Current speed graphic image 84...Future velocity diagram image

Claims

1. an external environment recognition device that recognizes surrounding traffic participants present around the vehicle; a display unit including an exterior rearview mirror provided outside the vehicle cabin or an interior rearview mirror provided inside the vehicle cabin; a notification target information acquisition unit that recognizes a person approaching the vehicle among the surrounding traffic participants as a notification target and acquires notification target information relating to a moving state of the notification target; a display control device that displays an image generated based on the notification target information in a display area including a portion of the vehicle exterior rearview mirror or the vehicle interior rearview mirror where a mirror image of a notification target image associated with the notification target is visible to a driver of the vehicle, the notification target information acquisition unit acquires the notification target information including a relative speed of the notification target with respect to the host vehicle; The display control device is a virtual image display device characterized in that, when the notification target is recognized by the notification target information acquisition unit, it displays on the display unit a highlight image that emphasizes the presence of the notification target and an arrow-shaped velocity graphic image extending from the base end to the tip, which is generated based on the notification target information, and changes the inclination of the velocity graphic image according to the relative velocity.

2. the notification target information acquisition unit acquires the notification target information including a first relative speed of the notification target with respect to the host vehicle at the present or in the past, and a second relative speed of the notification target with respect to the host vehicle at a future time after a predetermined time from the present, 2. The virtual image display device according to claim 1, wherein the display control device displays, in the display area, a first velocity graphic image, which is the velocity graphic image generated based on the first relative velocity, and a second velocity graphic image, which is the velocity graphic image generated based on the second relative velocity.

3. 3. The virtual image display device according to claim 2, wherein the display control device simultaneously displays the first and second velocity graphic images in the display area while aligning the position of the tip of the first velocity graphic image with the position of the base of the second velocity graphic image.

4. 3. The virtual image display device according to claim 2, wherein the display control device alternately displays the first speed graphic image and the second speed graphic image in the display area.

5. the highlight image is a graphic image having a different shape from the velocity graphic image, The virtual image display device according to claim 2 , wherein the display control device displays the highlight image in the display area so as to overlap at least a part of the image of the notification object.

6. An external environment recognition device that recognizes surrounding traffic participants around the vehicle; a display unit including a windshield provided at a position visible to a driver of the vehicle; a notification target information acquisition unit that recognizes a person approaching the vehicle among the surrounding traffic participants as a notification target and acquires notification target information relating to a moving state of the notification target; a display control device that displays an image generated based on the notification target information in a display area including a portion of the windshield where a real image of a notification target image associated with the notification target is visible to the driver, the notification target information acquisition unit acquires the notification target information including a relative speed of the notification target with respect to the host vehicle; The display control device is a virtual image display device characterized in that, when the notification target is recognized by the notification target information acquisition unit, it displays on the display unit a highlight image that emphasizes the presence of the notification target and an arrow-shaped velocity graphic image extending from the base end to the tip, which is generated based on the notification target information, and changes the inclination of the velocity graphic image according to the relative velocity.

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