Virtual image display device

Abstract

To provide a virtual image display device capable of displaying a non-overlapping content and a lane change content being an overlapping content at proper timing and at proper positions.SOLUTION: A display control part 143 displays a virtual image associated with each of a first position and a second position which is defined above the first position according to switching of the position of a field angle by an actuator 13. The actuator 13 moves the field angle to the second position from the first position when the operation of automatic lane change support is started, and moves the field angle from the second position to the first position when the operation of the automatic lane change support is finished. The display control part 143 displays a non-overlapping content which is not overlapped in a landscape in a foreground of a vehicle in the field angle at the first position, and displays a lane change content being an overlapping content which indicates the operation state of a vehicle A when the automatic lane change support is executed and which is overlapped on a road face in the foreground in the field angle at the second position.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a virtual image display device that displays a virtual image that can be viewed by a vehicle occupant. [Background technology]

[0002] Conventionally, a head-up display that displays a virtual image visible to a vehicle occupant on a windshield or the like of a vehicle has been known, as disclosed in Patent Document 1. In this specification, the head-up display may be abbreviated as HUD. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2015 / 118859 Summary of the Invention [Problem to be solved by the invention]

[0004] The virtual images displayed by the HUD can be classified into non-superimposed content, such as content showing the vehicle's speed, which is not superimposed on the scenery in front of the vehicle, and superimposed content, such as content related to vehicle driving assistance, which is superimposed on the scenery in front of the vehicle. Currently, as the superimposed content, it is considered to display lane change content related to automated lane change assistance, which provides various types of assistance related to lane changes, changing the lane in which the vehicle is traveling. In this specification, automated lane change assistance may be abbreviated as LCA.

[0005] However, the field of view of a HUD cannot be expanded indefinitely, but is limited to a finite range determined by the specifications of the HUD, the vehicle, etc. With conventional HUDs, it has been difficult to display both non-overlapping content and overlaid lane change content at the appropriate timing and in the appropriate positions within such a finite field of view.

[0006] The present invention has been made in consideration of the above circumstances, and its purpose is to provide a virtual image display device that can display both non-overlapping content and overlapping content, i.e., lane change content, at the appropriate timing and in the appropriate position. [Means for solving the problem]

[0007] The virtual image display device according to claim 1 is a device that displays a virtual image visible to an occupant of a vehicle (A), and includes a switching mechanism (13) and a display control unit (143). The switching mechanism switches the position of the angle of view at which the virtual image is displayed between a plurality of positions including a first position and a second position defined above the first position. The display control unit displays the virtual images associated with the first position and the second position in response to the switching of the angle of view by the switching mechanism.

[0008] The switching mechanism moves the angle of view from the first position to the second position when an operation of an automated lane change assist that performs various types of assistance related to lane change to change the lane in which the vehicle is traveling is started. Furthermore, the switching mechanism moves the angle of view from the second position to the first position when the operation of the automated lane change assist is completed. The display control unit displays an image within the angle of view of the first position. It is a display object that is not used for Augmented Reality display. The display control unit displays non-superimposed content, and the display control unit displays lane change content, which is superimposed content that represents an operating state of the vehicle when the automotive lane change assistance is performed, superimposed on a road surface in the foreground within the angle of view of the second position. The non-superimposed content includes content that indicates the distance between the subject vehicle, which is the vehicle, and a leading vehicle that is traveling ahead of the subject vehicle.

[0009] In the above configuration, when the automatic lane change assist is performed, the angle of view is moved to a second position, which is a relatively higher position, and the lane change content is displayed within that angle of view. The automatic lane change assist is performed when the vehicle is traveling at a relatively high speed, such as when the vehicle is traveling on a highway or a motorway. The faster the vehicle's traveling speed, the more the driver's line of sight, which is the occupant, tends to rise in order to view the distance. Therefore, according to the above configuration, when the automatic lane change assist is performed, the lane change content is displayed at an appropriate position to match the occupant's elevated line of sight, allowing the occupant to easily and accurately grasp the operating status of the vehicle operating in response to the automatic lane change assist.

[0010] Furthermore, with the above configuration, when the lane change assist operation is not being performed, the angle of view is moved to a first position, which is a relatively lower position, and the non-superimposed content is displayed within that angle of view. The non-superimposed content is not necessarily information necessary for the occupants when the lane change assist operation is being performed, and is content that is not superimposed on the scenery in the foreground, so it is displayed at such a timing and in such a position. In this way, with the above configuration, it is possible to obtain the excellent effect of being able to display both the non-superimposed content and the lane change content, which is the superimposed content, at the appropriate timing and in the appropriate position. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram illustrating an example of a head-up display mounted on a vehicle according to an embodiment; [Figure 2] FIG. 1 is a diagram illustrating a configuration of a display system including a head-up display according to an embodiment. [Figure 3] FIG. 10 is a diagram showing a specific example of a display mode of a HUD in a reference state of virtual image display according to an embodiment. [Figure 4] FIG. 10 is a diagram showing a specific example of a display mode of a HUD immediately after an instruction to perform LCA is given according to an embodiment; [Figure 5]FIG. 1 is a diagram illustrating a specific example of a display mode of a HUD when the angle of view moves from a first position to a second position according to an embodiment. [Figure 6] FIG. 2 is a diagram illustrating a specific example of a display mode of a HUD when the angle of view moves from a first position to a second position according to an embodiment. [Figure 7] FIG. 1 is a diagram showing a specific example of a display mode of a HUD after the angle of view has been moved to a second position according to an embodiment. [Figure 8] FIG. 2 is a diagram showing a specific example of a display mode of the HUD after the angle of view has been moved to the second position according to an embodiment. [Figure 9] FIG. 3 is a diagram showing a specific example of a display mode of the HUD after the angle of view has been moved to the second position according to an embodiment. [Figure 10] FIG. 4 illustrates a specific example of a display mode of the HUD after the angle of view has been moved to the second position according to an embodiment. [Figure 11] FIG. 1 is a diagram illustrating a specific example of a display mode of a HUD when the angle of view moves from a second position to a first position according to an embodiment. [Figure 12] FIG. 2 is a diagram illustrating a specific example of a display mode of a HUD when the angle of view moves from the second position to the first position according to an embodiment. [Figure 13] FIG. 10 shows a first modified example of LCA content. [Figure 14] FIG. 2 shows a second modified example of LCA content. [Figure 15] FIG. 3 shows a third modified example of LCA content. [Figure 16] FIG. 4 shows a fourth modified example of LCA content. [Figure 17] FIG. 5 shows a fifth modified example of LCA content. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment of a virtual image display device will be described with reference to the drawings. 1 and 2, a head-up display 1 of this embodiment functions as a virtual image display device that displays a virtual image visible to an occupant of vehicle A, and together with a meter display device 2 and the like, constitutes a display system 3. In the following description, vehicle A may be referred to as host vehicle A to distinguish it from other vehicles. The display system 3 is used in vehicle A, and by linking the virtual image display by the HUD 1 with the screen display by the meter display device 2 and the like, presents various information related to vehicle A to the driver, who is an occupant of vehicle A.

[0013] The HUD 1 and the meter display device 2 are communicatively connected to a communication bus of an in-vehicle network mounted on the vehicle A. Other in-vehicle ECUs, such as a periphery monitoring sensor 4, a vehicle control ECU 5, and a driving assistance ECU 6, are further connected to the communication bus of the in-vehicle network. ECU is an abbreviation for Electronic Control Unit. These components connected as nodes to the communication bus can communicate with each other.

[0014] The perimeter monitoring sensor 4 is a sensor that monitors the environment surrounding the host vehicle A, and in this case, is provided as an autonomous sensor that operates autonomously. The perimeter monitoring sensor 4 detects objects present in the perimeter of the host vehicle A, such as dynamic targets that move around the host vehicle A, such as humans such as pedestrians, non-human animals, and vehicles other than the host vehicle A, and static targets that are stationary around the host vehicle A, such as fallen objects on the road, and guardrails, curbs, and trees that are present around the road.

[0015] The perimeter monitoring sensor 4 can also detect the distance to a vehicle ahead of the host vehicle A, as well as markings such as lane markings, stop lines, pedestrian crossings, road signs, and road markings on the roads surrounding the host vehicle A. The perimeter monitoring sensor 4 then sequentially outputs the obtained sensing data to the communication bus. The perimeter monitoring sensor 4 is composed of, for example, a perimeter monitoring camera that captures an image of a predetermined range around the host vehicle, and a search wave sensor such as millimeter wave radar, sonar, or LIDAR that outputs search waves within a predetermined range around the host vehicle.

[0016] The search wave sensor sequentially outputs the scanning results based on the received signals obtained by receiving the reflected waves from the object as sensing data to the communication bus. More specifically, the search wave sensor measures the distance from the search wave sensor to the object based on the time between transmitting the search wave and receiving the reflected wave from the object. The search wave sensor also measures the orientation of the object relative to the search wave sensor based on the angle at which the reflected wave is received. The orientation can be expressed, for example, as an azimuth angle, with a clockwise direction relative to the vehicle's front being a positive azimuth angle and a counterclockwise direction being a negative azimuth angle.

[0017] In this case, the perimeter monitoring sensor 4 is configured to include at least a camera 41 whose imaging range is a predetermined range around the host vehicle A, and a millimeter-wave radar 42 whose detection range is a predetermined range around the host vehicle A. The camera 41 can be provided, for example, on the rearview mirror or the top surface of the instrument panel of the host vehicle A. The millimeter-wave radar 42 can be provided, for example, on the front grille or front bumper of the host vehicle A. The millimeter-wave radar 42 transmits millimeter waves or quasi-millimeter waves while scanning a sensing range, such as in front of the host vehicle A, and receives reflected waves reflected by the object, thereby measuring the distance and direction to the object relative to the millimeter-wave radar 42.

[0018] The sensing range of the camera 41 and the sensing range of the millimeter-wave radar 42 may or may not be the same. Furthermore, the sensing range of the camera 41 and the sensing range of the millimeter-wave radar 42 may or may not overlap at least partially. Furthermore, multiple perimeter monitoring sensors 4 may be provided at different locations on the host vehicle A.

[0019] The vehicle control ECU 5 includes a microcomputer and the like, and performs, for example, control of acceleration and deceleration, steering, braking, etc. of the host vehicle A. The vehicle control ECU 5 includes a power unit control ECU that controls acceleration and deceleration of the host vehicle A, a steering control ECU that controls steering of the host vehicle A, a brake control ECU that controls braking of the host vehicle A, etc.

[0020] The vehicle control ECU 5 outputs control signals to various driving control devices such as an electronically controlled throttle, brake actuator, and EPS motor based on detection signals output from various sensors mounted on the host vehicle A, such as an accelerator position sensor, brake pedal force sensor, steering angle sensor, and wheel speed sensor. EPS is an abbreviation for Electric Power Steering. The vehicle control ECU 5 can also output detection signals obtained from the various sensors to a communication bus.

[0021] The driving assistance ECU 6 includes a microcomputer and other components, and works in cooperation with the vehicle control ECU 5 to implement a number of assistance functions that assist the driver of the vehicle A in driving. In this case, the driving assistance ECU 23 has driving assistance functions such as LDW, ACC, and LCA. Note that LDW is an abbreviation for Lane Departure Warning, and ACC is an abbreviation for Adaptive Cruise Control. In this case, assistance provided by the driving assistance ECU 6 also includes an automatic driving function that automatically controls the driving of the vehicle A.

[0022] The LDW function is a function that determines whether the vehicle has deviated from its own lane, such as going beyond the lane markings, based on detection information of the lane markings obtained from the perimeter monitoring sensor 4. When the driving assistance ECU 6 determines that the vehicle has deviated from its own lane using the LDW function, it provides lane departure information to the HUD 1 and the meter display device 2 and issues a lane departure warning to the driver.

[0023] The ACC function is a function that causes vehicle A to travel at a constant speed at a target vehicle speed, or causes vehicle A to follow a vehicle ahead while maintaining a distance from the vehicle ahead based on detection information of the vehicle ahead obtained from the periphery monitoring sensor 4. When the ACC function is operating, the driving assistance ECU 6 provides status information indicating the control state of the ACC function to the HUD 1 and the meter display device 2.

[0024] The LCA function is a function that provides various types of assistance related to lane changes, which change the lane in which vehicle A is traveling. The various types of assistance include monitoring the destination when changing lanes, steering operation for changing lanes, and acceleration / deceleration. The driving assistance ECU 6 activates the LCA function when a predetermined ON operation is performed to instruct the implementation of LCA or when the autonomous driving function determines that LCA should be implemented. An example of an ON operation is an operation of half-pressing a turn signal switch for activating a turn signal for a predetermined period of time.

[0025] Furthermore, the driving assistance ECU 6 can halt the execution of the LCA function when a predetermined cancel operation is performed to cancel the implementation of the LCA after an ON operation, etc. Examples of the cancel operation include operating a turn signal switch in the direction opposite to the ON operation, steering, accelerator operation, or braking operation that exceeds a specific operation amount.

[0026] Lane changes using the LCA function are performed as follows: In other words, in the start-up state, which is the state immediately after receiving an ON operation or immediately after the autonomous driving function has determined that LCA will be performed, the driving assistance ECU 6 checks, based on various detection information obtained from the periphery monitoring sensor 4, whether or not another vehicle is present in the destination lane, which is the adjacent lane to which the vehicle will move when changing lanes.

[0027] When the driving assistance ECU 6 confirms that there is another vehicle in the destination lane that may prevent the host vehicle A from changing lanes, the driving assistance ECU 6 enters a standby state in which it waits for the execution of a lane change using the LCA function. When the driving assistance ECU 6 confirms that there is no other vehicle in the destination lane that may prevent the host vehicle A from changing lanes, the driving assistance ECU 6 enters an execution state in which it starts the execution of a lane change using the LCA function.

[0028] When the driving assistance ECU 6 enters the execution state, it automatically controls the steering angle of the steering wheels of vehicle A, thereby moving vehicle A from the current lane to the destination lane, i.e., changing lanes of vehicle A. At this time, the driving assistance ECU 6 also automatically turns on the turn signal corresponding to the direction vehicle A is moving in as the lane changes. When the LCA function is operating, the driving assistance ECU 6 provides LCA information, which is information related to LCA, to the HUD 1 and the meter display device 2. The LCA information includes information indicating the planned movement direction, which is the direction vehicle A is planned to move in by LCA, information indicating the planned driving trajectory, which is the trajectory vehicle A is planned to travel by LCA, and a status indicating whether the operating state of the LCA function is a startup state, a standby state, or an execution state.

[0029] Next, the detailed configurations of the HUD 1 and the meter display device 2 will be described. In this case, the up-down direction in FIG. 1 is the up-down direction of vehicle A, the left-right direction in FIG. 1 is the fore-and-aft direction of vehicle A, and the direction perpendicular to the plane of the paper in FIG. 1 is the left-and-aft direction of vehicle A. The fore-and-aft and left-and-aft directions of vehicle A are defined with vehicle A at rest on a horizontal plane as a reference. Specifically, the fore-and-aft direction of vehicle A is defined along the traveling direction of vehicle A. Furthermore, the left-and-aft direction of vehicle A is defined along the width direction of vehicle A. The up-and-down direction of vehicle A is defined along the vertical direction of the horizontal plane that defines the fore-and-aft and left-and-aft directions. Hereinafter, when simply referring to up, down, front, rear, left, and right, these directions are meant.

[0030] The meter display device 2 is one of a plurality of display devices mounted on the vehicle A, and presents information to the driver by displaying an image on a display screen. The meter display device 2 has a configuration equivalent to a combination meter, and is housed in the instrument panel 7 with its display screen facing the driver's seat. The meter display device 2 is installed, for example, in a front position in the passenger compartment of the vehicle A so that it can be easily viewed by the driver seated in the driver's seat. The meter display device 2 includes a meter display 21 and a meter ECU 22.

[0031] The meter display 21 is, for example, a liquid crystal display, an organic EL display, etc. Based on video data acquired from the meter ECU 22, the meter display 21 displays a speedometer image, a tachometer image, a navigation map image, a driving assistance image, etc. on a display screen.

[0032] The meter ECU 22 is an electronic control device that functions as an HCU in the display system 3 and controls the user interface functions of the vehicle A. HCU is an abbreviation for Human Machine Interface Control Unit. The meter ECU 22 comprehensively controls the displays of display devices such as the meter display 21, HUD 1, and center display. The meter ECU 22 generates video data to be provided to the meter display 21 based on various information output to the communication bus.

[0033] The meter ECU 22 includes a microcomputer and executes calculations for displaying a virtual image in cooperation with the head-up ECU 14 (described later). Specifically, the meter ECU 22 generates image data used to display the virtual image Vi and sequentially outputs the generated image data to the HUD 1. The meter ECU 22 generates image data used to display virtual images such as the operating state of the vehicle A when LCA is performed, lane departure warning, ACC status, turn-by-turn, and sign recognition, and provides the image data to the HUD 1.

[0034] The HUD 1 is one of multiple display devices mounted on the vehicle A, and presents information to the driver by forming a virtual image Vi in the space in front of the driver. The HUD 1 is housed in a housing space provided inside the instrument panel 7. The HUD 1 projects virtual image light Lvi, which is light that is formed as the virtual image Vi, toward a projection range PA on the windshield WS. The virtual image light Lvi projected onto the windshield WS is reflected toward the driver's seat in the projection range PA and perceived by the driver. The driver visually recognizes a display in which the virtual image Vi is superimposed on the foreground visible through the projection range PA.

[0035] The HUD 1 includes a PGU 11, a magnifying optical system 12, an actuator 13, and a head-up ECU 14. PGU is an abbreviation for Picture Generation Unit. The PGU 11 includes an LCD panel and a backlight. LCD is an abbreviation for Liquid Crystal Display. The PGU 11 is fixed to the housing of the HUD 1 with the display surface of the LCD panel facing the magnifying optical system 62.

[0036] The PGU 11 displays each frame image of the video data on the display surface of an LCD panel, and transmits the virtual image light Lvi formed as a virtual image Vi by backlighting the display surface, and emits the virtual image light Lvi toward the magnifying optical system 12. The magnifying optical system 12 includes at least one concave mirror formed by depositing a metal such as aluminum on the surface of a base material made of synthetic resin, glass, or the like. The magnifying optical system 12 reflects and spreads the light emitted from the PGU 11, and projects it into a projection range PA above.

[0037] The actuator 13 is a mechanism that mechanically moves the area of ​​the windshield WS that becomes the projection range PA. The projection range PA is the range onto which the virtual image light Lvi is projected, and is the range into which the virtual image Vi appears as seen by the driver. The actuator 13 rotates the concave mirror of the magnifying optical system 12 about a rotation axis defined on the concave mirror, thereby changing the emission direction of the virtual image light Lvi from the magnifying optical system 12 toward the windshield WS. By changing the attitude of the concave mirror, the actuator 13 moves the projection range PA of the virtual image light Lvi, and therefore the position of the angle of view VA viewed by the driver, at least in the vertical direction.

[0038] If the imaginary range in space where the virtual image Vi can be formed is defined as an imaging plane IS, the field of view VA is a field of view defined based on a virtual line connecting the driver's eye point EP and the outer edge of the imaging plane IS. The field of view VA is the angular range in which the driver can view the virtual image Vi as seen from the eye point EP. In the HUD 1, the vertical field of view is, for example, about 2°, and the horizontal field of view is, for example, about 6°. That is, in the HUD 1, the horizontal field of view is larger than the vertical field of view.

[0039] As the angle of view VA moves up and down, the forward range within the angle of view VA changes. For example, when the actuator 13 positions the angle of view VA at the lowest position, for example, at a depression angle of about 3°, the forward range within the angle of view VA is between 10 and 20 meters. In contrast, when the actuator 13 positions the angle of view VA at the highest position, for example, at a depression angle of about 1°, the forward range within the angle of view VA is between 30 and 80 meters.

[0040] The head-up ECU 14 is a control circuit for the HUD 1 that performs integrated control of the PGU 11 and the actuator 13. The head-up ECU 14 includes a microcomputer and other components. The head-up ECU 14 is further provided with drive circuits for driving the LCD panel, the backlight, and the actuator 13.

[0041] The head-up ECU 14 changes the content to be displayed as the virtual image Vi in association with the position of the angle of view VA. Specifically, the head-up ECU 14 switches the position of the angle of view VA at which the virtual image Vi is displayed between a plurality of positions including a first position VP1 and a second position VP2 by controlling the drive of the actuator 13. The head-up ECU 14 displays the virtual image Vi associated with each of the first position VP1 and the second position VP2 in accordance with the switching of the position of the angle of view VA by the actuator 13. In this embodiment, the actuator 13 functions as a switching mechanism.

[0042] The first position VP1 is a viewing angle position where non-superimposed content is mainly displayed as a virtual image Vi. The non-superimposed content is a display object that is not superimposed on the scenery in the foreground of the vehicle A, i.e., a non-AR display object. AR is an abbreviation for Augmented Reality. The non-superimposed content is displayed at a specific position within the projection range PA, i.e., the viewing angle VA. Therefore, the non-superimposed content is visually recognized by the driver as if it were fixed relative to the vehicle configuration such as the windshield WS. The state in which vehicle information such as the traveling speed of the vehicle A, i.e., vehicle speed, is displayed at the first position VP1 using non-superimposed content becomes the reference state for virtual image display by the HUD1.

[0043] The second position VP2 is a field of view position where the superimposed content is mainly displayed as a virtual image Vi. The second position VP2 is a position defined above the first position VP1. The superimposed content is an AR display object used for AR display. The display position of the superimposed content is associated with a specific superimposed object present in the foreground of vehicle A, such as a specific position on the road surface, a vehicle ahead, a pedestrian, or a road sign.

[0044] The superimposed content is displayed superimposed on a specific superimposed target within the field of view VA, and can move relative to the superimposed target, following the superimposed target, as if fixed relative to the superimposed target. The shape of the superimposed content is updated periodically to match the relative position and shape of the superimposed target. The superimposed content is displayed in a more horizontal orientation than non-superimposed content, e.g., stretched in the depth direction as seen from the driver. For example, when a specific event occurs that should be notified to the driver, the HUD1 moves the field of view VA from a first position VP1 to a second position VP2 and displays the superimposed content.

[0045] To realize such virtual image display control linking the view angle position and the content, the head-up ECU 14 includes a plurality of functional units that are realized by a processing unit of the microcomputer executing a virtual image display program, which is a computer program stored in a storage device of the microcomputer. Specifically, the head-up ECU 14 includes functional units such as an information acquisition unit 141, a data storage unit 142, and a display control unit 143.

[0046] The information acquisition unit 141 is connected to the communication bus and the meter ECU 22. The information acquisition unit 141 acquires various types of information from the communication bus, such as road sign recognition information from the perimeter monitoring sensor 4, lane departure information and status information from the driving assistance ECU 6. Image data for virtual image display generated by the meter ECU 22 is sequentially input to the information acquisition unit 141. The information acquisition unit 141 is electrically connected to the AR switch 8. The AR switch 8 is a switch that switches AR display using superimposed content on and off. The information acquisition unit 141 detects the on and off states of the AR switch 8.

[0047] The data storage unit 142 is a storage area that stores a plurality of data items referenced by the display control unit 143. The data storage unit 142 may be a storage area secured in a RAM included in the microcomputer of the head-up ECU 14, or may be a partial storage area in a storage included in the microcomputer. The data storage unit 142 stores a lookup table, mirror position data, and graphic data.

[0048] The lookup table is information that links the angle of view position with content. The mirror position data is information that defines the angular position of the concave mirror when the angle of view VA is set to a first position VP1 and information that defines the angular position of the concave mirror when the angle of view VA is set to a second position VP2. The mirror position data may be a value that can be adjusted by the driver to match the position of the driver's eye point EP. The graphic data is image data that is used when the angle of view VA is at the first position VP1 and image data that is used when the angle of view VA is at the second position VP2.

[0049] The display control unit 143 is a control unit that performs integrated control of the PGU 11 and the actuator 13, and generates video data and control signals to be output to the PGU 11, and a drive signal to be output to the actuator 13. The display control unit 143 switches between enabling and disabling the operation of moving the angle of view VA to the second position VP2 based on the on / off state of the AR switch 8 grasped by the information acquisition unit 141. When the AR switch 8 is in the off state, the display control unit 143 fixes the angle of view VA to the first position VP1 and suspends the display of the superimposed content.

[0050] The display control unit 143 determines the position of the angle of view VA based on the information acquired by the information acquisition unit 141 and the contents of the lookup table, and selects content to be displayed as a virtual image based on the determined angle of view position. Based on the content selection result, the display control unit 143 extracts image material data to be used for generating video data from the graphic data. The display control unit 143 appropriately combines image data generated from the graphic data with image data provided by the meter ECU 22 to generate each frame image of the video data. The display control unit 143 sequentially outputs video data consisting of a number of consecutive frame images to the PGU 11.

[0051] In the above configuration, when the LCA operation starts, the head-up ECU 14 moves the angle of view VA from the first position VP1 to the second position VP2 by controlling the drive of the actuator 13. Also, in the above configuration, when the LCA operation ends, the head-up ECU 14 moves the angle of view from the second position VP2 to the first position VP1 by controlling the drive of the actuator 13. In this case, the display control unit 143 displays non-superimposed content within the angle of view VA at the first position VP1, and also displays LCA content, which is superimposed content that is superimposed on the road surface in the foreground and represents the operating state of vehicle A when the LCA is performed, within the angle of view VA at the second position VP2.

[0052] In this case, when the LCA operation starts, the display control unit 143 displays notification content for notifying a driver or other occupant of the start of the LCA operation within the field of view VA of the first position VP1. Furthermore, in this case, the display control unit 143 also displays the LCA content within the field of view VA of a position on the way where the field of view VA is moved from the first position VP1 to the second position VP2 by the drive control of the actuator 13 by the head-up ECU 14. The LCA content corresponds to lane change content.

[0053] Next, specific examples of display modes related to LCA performed by the HUD 100 having the above configuration will be described with reference to FIGS. [1] Before LCA begins 3, before the LCA starts operating, that is, before the LCA is turned on, the position of the angle of view VA is set to the first position VP1. At this time, a plurality of contents Cn1 to Cn6, which are all non-superimposed contents, are displayed at the angle of view VA at the first position VP1.

[0054] Content Cn1 represents the vehicle speed, which is the traveling speed of the host vehicle A. Content Cn2 represents the detection result of the vehicle ahead Af. Content Cn3 represents the length of the inter-vehicle distance between the host vehicle A and the vehicle ahead Af. Contents Cn4 and Cn5 represent the detection result of the lane markings Lml and Lmr. Content Cn6 represents the upper limit vehicle speed when the vehicle A is cruising at a constant speed using the ACC function. In this way, before the operation of the LCA is started, the reference state for the virtual image display by the HUD1 is reached.

[0055] [2] Immediately after the LCA was ordered As shown in Fig. 4, immediately after an ON operation or the like is performed to instruct the implementation of LCA, the position of the angle of view VA remains at the first position VP1. At this time, content Cn7, which is non-superimposed content, is displayed at a predetermined position, such as the right edge position, within the angle of view VA at the first position VP. Content Cn7 is an example of notification content for notifying a driver or other passengers that the LCA operation has started when the LCA operation is initiated. At this time, the display of contents Cn1 to Cn6 may be continued or stopped.

[0056] The content Cn7 is an icon including, for example, an arrow-shaped image representing a planned driving trajectory that smoothly connects the center of the vehicle's lane and the adjacent lane that is the destination lane, and images representing each lane marking, including the lane marking that is the boundary line that the vehicle A will cross when changing lanes. In this case, the content Cn7 is displayed in a flashing manner, repeatedly turning on and off a predetermined number of times.

[0057] [3] When the angle of view VA moves from the first position VP1 to the second position VP2 Thereafter, as shown in Figures 5 and 6, the angle of view VA moves from the first position VP1 to the second position VP2. Note that the white arrows pointing up and down in Figures 5 and 6 indicate the direction of movement of the angle of view VA. In this embodiment, the LCA content Cs1, which is superimposed content, is also displayed within the angle of view VA at positions along the way during this movement. In this case, the LCA content Cs1 includes content Cs11 representing the planned travel path of vehicle A according to LCA, and content Cs12 representing each lane marking, including lane markings that vehicle A will cross when changing lanes.

[0058] Both contents Cs11 and Cs12 are superimposed and displayed as if they are attached to the road surface. Content Cs11 is a plurality of triangular images arranged in a line along the planned travel path of vehicle A calculated by LCA. In this case, each triangular image is arranged so that a predetermined vertex faces the planned direction of travel of vehicle A calculated by LCA at that time. Content Cs12 is shaped to overlap the corresponding lane marking or to extend along the corresponding lane marking. Content Cs12 is displayed in red and flashes in standby mode, and in blue in execution mode.

[0059] [4] After the angle of view VA has been moved to the second position VP2 As shown in Figures 7 to 10, after the angle of view VA has been moved to the second position VP2, the LCA function starts executing a lane change, and the content Cs1 is displayed to move in accordance with the foreground at that time. In Figures 7 and 8, the triangular image located at the bottom of content Cs11 is located to the left of content Cs12, which corresponds to the lane marking that the vehicle will cross when changing lanes. In other words, in Figure 7, the display shows that the vehicle A is still traveling in its own lane and will later cross the lane marking to move to the adjacent destination lane.

[0060] 8 and 9, the triangular image located at the bottom of content Cs11 is located to the right of content Cs12, which corresponds to the lane marking that the vehicle was scheduled to cross during the lane change. In other words, in FIGS. 8 and 9, the display shows that the vehicle A has crossed the lane marking from the vehicle's own lane to the destination lane, and that the vehicle will then move to the center of the destination lane. In addition, in FIG. 10, multiple triangular images of content Cs11 are arranged side by side along the center of the destination lane. In other words, in FIG. 10, the display shows that the lane change has been completed and the vehicle A is traveling in the center of the destination lane.

[0061] [5] When the angle of view VA moves from the second position VP2 to the first position VP1 11 and 12, the angle of view VA moves from the second position VP2 to the first position VP1. In this embodiment, the LCA content Cs1, which is the superimposed content, is also displayed within the angle of view VA at positions along the way.

[0062] [6] After the angle of view VA has been moved to the first position VP1 After the movement of the angle of view VA to the second position VP2 is completed, the angle of view VA at the first position VP1 displays multiple contents Cn1 to Cn6, all of which are non-overlapping contents, i.e., the standard state of virtual image display by HUD1 as shown in Figure 3.

[0063] According to the HUD 1 of the present embodiment described above, when the LCA operation is performed, the field of view VA is moved to the second position VP2, which is a relatively higher position, and the LCA content Cs1 is displayed within the field of view VA. The LCA operation is performed when the vehicle A is traveling at a relatively high speed, such as when the vehicle A is traveling on a highway or a motorway. The faster the vehicle A's traveling speed, the more the driver, who is an occupant, tends to raise his or her line of sight to view distant objects. Therefore, according to the HUD 1 of the present embodiment, when the LCA operation is performed, the LCA content Cs1 is displayed at an appropriate position to match the driver's elevated line of sight. This allows the driver to easily and accurately grasp the operating state of the vehicle A when the LCA is performed without averting his or her eyes.

[0064] Furthermore, in the above configuration, when the LCA is not operating, the angle of view is moved to a first position VP1, which is a relatively lower position, and non-superimposed content is displayed within the angle of view VA. The non-superimposed content is not necessarily information necessary for the driver when the LCA is operating, such as the vehicle speed of the vehicle A, and is content that is not superimposed on the scenery in the foreground, so it is displayed at such a timing and in such a position. As such, this embodiment provides the excellent effect of being able to display both the non-superimposed content and the superimposed content, LCA content Cs1, at appropriate timing and in appropriate positions.

[0065] In this embodiment, the LCA content Cs1 includes content Cs11 that represents a planned driving trajectory of vehicle A according to LCA, and content Cs12 that represents each lane marking, including lane markings that are boundary lines that vehicle A will cross when changing lanes. In this way, when the LCA operation starts, the driver knows that vehicle A will correctly recognize the boundary line and will then execute appropriate control to change lanes so as to cross that boundary line, and the driver can feel at ease about the upcoming LCA operation.

[0066] In this case, the content Cs12 representing each lane marking is displayed in red and flashes in the standby state, and is displayed in blue in the execution state. In other words, in this case, when it is confirmed that there is another vehicle in the destination lane that may prevent the host vehicle A from changing lanes and the vehicle transitions to the standby state, the content Cs12 is displayed in a manner that attracts the driver's attention, compared to when the vehicle transitions to the execution state in which the execution of a lane change using the LCA function is started.

[0067] In this way, the driver can easily understand that the LCA function is on standby to execute a lane change because it has been confirmed that there is another vehicle in the destination lane that will prevent vehicle A from changing lanes. Therefore, even if the execution of a lane change is not initiated despite the driver having turned on the LCA, the driver can correctly understand the reason and will not feel uneasy or distrustful about the control of vehicle A.

[0068] In this embodiment, when the LCA operation is initiated, content Cn7, which is notification content for notifying the driver of the start of LCA operation, is displayed within the field of view VA of the first position VP1. This allows the driver to easily and reliably know that the LCA operation is about to begin before the LCA actually begins to change lanes. Therefore, if the LCA operation is about to begin unintentionally due to, for example, an operation error on the driver's part, the driver can immediately cancel the LCA operation.

[0069] In this embodiment, the LCA content Cs1 is also displayed within the viewing angle VA at a position during the movement of the viewing angle VA from the first position VP1 to the second position VP2. By doing so, compared to the case where display is not performed during the movement of the viewing angle VA from the first position VP1 to the second position VP2, after an on-operation or the like for instructing the execution of LCA is performed, the display of the LCA content Cs1 will start without causing a large delay, and the display of the LCA content Cs1 will continue without interruption until the operation of LCA is completed. Therefore, the driver can more reliably grasp the operating state of the vehicle A when LCA is performed.

[0070] <Modification Example Regarding LCA Content> The LCA content may be superimposed content representing the operating state of the vehicle A when LCA is performed, and its specific form can be changed as appropriate. Therefore, here, a plurality of modification examples of the LCA content will be described with reference to FIGS. 13 to 17.

[0071] [1] First Modification Example The LCA content Cs1a of the first modification example shown in FIG. 13 is different from the LCA content Cs1 shown in FIG. 6 and the like in that it has the content Cs11a instead of the content Cs11. The content Cs11a is a plurality of elliptical images arranged side by side along the planned travel trajectory of the vehicle A by LCA, and is superimposed and displayed in a manner as if it were pasted on the road surface, similar to the content Cs11. The LCA content Cs1a of such a first modification example has a simpler display compared to the content Cs1, and is less likely to give the driver a complicated impression.

[0072] [2] Second Modification Example The LCA content Cs1b of the second modified example shown in Fig. 14 differs from the LCA content Cs1 shown in Fig. 6 etc. in that it has content Cs11b instead of content Cs11. Like content Cs11, content Cs11b is a collection of multiple triangular images arranged in a line along the planned driving trajectory of vehicle A determined by LCA, and is displayed superimposed on the road surface as if it were attached to the road surface.

[0073] In this case, however, the multiple triangular images of content Cs11b are animated to appear as if they are moving in the planned direction of travel of vehicle A. According to the LCA content Cs1b of the second modified example, the driver can more strongly sense that vehicle A is changing lanes through automatic control at that time.

[0074] [3] Third variant The LCA content Cs1c of the third modified example shown in Fig. 15 differs from the LCA content Cs1 shown in Fig. 6 etc. in that it includes content Cs11c instead of content Cs11. Content Cs11c is an arrow-shaped image representing the planned driving trajectory that smoothly connects the center of the vehicle's lane and the adjacent lane that is the destination lane, and is superimposed and displayed as if glued to the road surface, just like content Cs11. Compared to LCA contents Cs1, Cs1a, and Cs1b, LCA content Cs1c of the third modified example allows the driver to more intuitively and accurately grasp the planned driving trajectory of vehicle A based on LCA.

[0075] In contrast, according to the LCA contents Cs1, Cs1a, and Cs1b, the area of ​​the scenery in the foreground of vehicle A that is obscured by the contents Cs11, Cs11a, and Cs11b that represent the planned driving trajectory of vehicle A by LCA is kept small compared to the LCA content Cs1c of the third modified example. Therefore, with the LCA contents Cs1, Cs1a, and Cs1b, the driver can check the operating state of vehicle A when LCA is performed while fully checking the scenery in the foreground.

[0076] [4] Fourth Variant The LCA content Cs1d of the fourth modified example shown in Fig. 16 differs from the LCA content Cs1c of the third modified example shown in Fig. 15 in that it has content Cs11d instead of content Cs11c. Like content Cs11c, content Cs11d is an arrow-shaped image that represents the planned driving trajectory that smoothly connects the center of the vehicle's lane and the adjacent lane that is the destination lane, and is superimposed and displayed in a manner that makes it appear as if it is attached to the road surface.

[0077] In this case, however, the arrow-shaped image of content Cs11d is animated to move in the planned direction of travel of vehicle A. As with LCA content Cs1c of the third modified example, LCA content Cs1d of the fourth modified example allows the driver to more intuitively and accurately grasp the planned travel path of vehicle A based on LCA. Furthermore, LCA content Cs1d of the fourth modified example allows the driver to more strongly realize that vehicle A is currently changing lanes through automatic control.

[0078] [5] Fifth Variation The LCA content Cs1e of the fifth modified example shown in Fig. 17 differs from the LCA content Cs1 shown in Fig. 6 etc. in that it includes content Cs11e instead of content Cs11. Content Cs11e is an image that indicates the direction of lane change by LCA, placed near content Cs12. In this case, the image of content Cs11e is a triangular image, but it may also be an arrow-shaped image. Content Cs11e is displayed superimposed on the road surface in a manner that makes it appear as if it is floating above the road surface.

[0079] In this case, the image of content Cs11e is animated to move in the direction of the lane change by LCA, but a blinking display or the like can be used instead of such an animation display. According to this fifth modification, the driver can reliably know the most important information when a lane change by LCA is to be performed, that is, whether to change to the left lane or the right lane of the adjacent lane adjacent to the host vehicle's lane.

[0080] (Other embodiments) The present invention is not limited to the embodiments described above and illustrated in the drawings, but can be arbitrarily modified, combined, or expanded without departing from the spirit of the invention. The numerical values ​​and the like shown in the above embodiment are examples and are not limited to these.

[0081] The images and the like included in each content shown in the above embodiment can be appropriately changed in shape, size, color, display mode, and the like, as long as they can fulfill the same role. The display control unit 143 can omit displaying the content Cn7, which is the notification content.

[0082] The display control unit 143 can omit display of the LCA content Cs1 and the like at positions along the way when the angle of view VA is moved from the first position VP1 to the second position VP2 by the actuator 13. In this way, when an ON operation or the like is performed to instruct the implementation of LCA, the display state changes from, for example, the display state shown in Fig. 3, that is, the reference state of virtual image display by the HUD 1 in which the angle of view VA is at the first position VP1, to a state in which the display is temporarily stopped, and then to, for example, the display state shown in Fig. 7, that is, the state in which the angle of view VA is at the second position VP1 and the LCA content Cs1 is displayed within the angle of view VA.

[0083] In this case, when the display is stopped, the driver may mistakenly believe that there may be a malfunction in the HUD 1. However, even in this case, if the content Cn7, which is the notification content, is being displayed when the LCA operation starts, the driver can recognize that the display of the HUD 1 has simply been stopped as a preparation step for displaying the LCA content Cs1, and the risk of the above-mentioned mistaken belief occurring will be eliminated.

[0084] The display control unit 143 can change the display format of the LCA content between the period after the LCA operation has started until it is confirmed that there are no other vehicles in the destination lane to which the lane will be changed, i.e., the period when the operation of the LCA function is in a startup state or standby state, and the period after it is confirmed that there are no other vehicles in the destination lane, i.e., the period when the operation of the LCA function is in an execution state.

[0085] For example, the display control unit 143 can display the LCA content Cs1a of the first modified example as the LCA content while the operation of the LCA function is in the activation start state or standby state, and can display the LCA content Cs1 as the LCA content while the operation state of the LCA function is in the execution state. This allows the driver to easily and reliably grasp the current operation state of the LCA function based on changes in the display mode of the LCA content. Therefore, even if the execution of a lane change is not initiated despite the LCA being turned on, the driver can correctly understand the reason and will not feel uneasy or distrustful about the control of vehicle A.

[0086] Although the present disclosure has been described with reference to the embodiments, it is understood that the present disclosure is not limited to the embodiments or structures. The present disclosure also encompasses various modifications and equivalent modifications. In addition, various combinations and forms, including only one element, more than one element, or less than one element, are also within the scope and spirit of the present disclosure.

[0087] The controller and the method described herein may be implemented by a special-purpose computer configured with a processor and memory programmed to perform one or more functions embodied in a computer program. Alternatively, the controller and the method described herein may be implemented by a special-purpose computer configured with a processor comprising one or more dedicated hardware logic circuits. Alternatively, the controller and the method described herein may be implemented by one or more special-purpose computers configured with a processor and memory programmed to perform one or more functions in combination with a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by a computer on a computer-readable non-transitory storage medium. [Explanation of symbols]

[0088] 1...head-up display, 13...actuator, 143...display control unit, A...vehicle.

Claims

1. A virtual image display device (1) that displays a virtual image visible to an occupant of a vehicle (A), a switching mechanism (13) that switches the position of the angle of view at which the virtual image is displayed between a plurality of positions including a first position and a second position defined above the first position; a display control unit (143) that displays the virtual images associated with the first position and the second position in response to switching of the angle of view position by the switching mechanism; Equipped with the switching mechanism moves the angle of view from the first position to the second position when an operation of an automobile lane change assistance that performs various types of assistance related to a lane change to change the lane in which the vehicle is traveling is started, and moves the angle of view from the second position to the first position when the operation of the automobile lane change assistance is ended; The display control unit Displaying non-superimposed content, which is a display object not used for Augmented Reality display, within the angle of view of the first position; displaying lane change content, which is superimposed content that represents an operating state of the vehicle when the lane change assistance is performed, superimposed on a road surface in the foreground within the angle of view of the second position; The virtual image display device, wherein the non-superimposed content includes content representing a distance between the host vehicle, which is the vehicle, and a leading vehicle traveling in front of the vehicle.

2. 2. The virtual image display device according to claim 1, wherein the display control unit displays notification content for notifying the driver of the start of the lane change assistance operation within the angle of view of the first position when the lane change assistance operation is started.

3. The virtual image display device according to claim 1 or 2, wherein the display control unit also displays the lane change content within the angle of view at a position along the way as the angle of view is moved from the first position to the second position by the switching mechanism.

4. 4. The virtual image display device according to claim 1, wherein the display control unit changes the display format of the lane change content between the period from when the operation of the lane change assistance for the vehicle is started until it is confirmed that there are no other vehicles in the destination lane to be moved to by the lane change, and the period after it is confirmed that there are no other vehicles in the destination lane.

Images