JP2017094882A - Virtual image generation system, virtual image generation method and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a virtual image generation system, a virtual image generation method and a computer program, capable of providing proper information using a virtual image.SOLUTION: The virtual image generation system respectively generates a first virtual image 10A for performing guidance by being overlapped on a peripheral environment to cause an occupant 9 of a vehicle to visually recognize the first virtual image, and a second virtual image 10B for performing guidance by causing the occupant 9 of the own vehicle to visually recognize the second virtual image without being overlapped on the peripheral environment, detects vibrations of the vehicle 2, corrects a position for generating the first virtual image 10A on the basis of the detected vibrations of the vehicle 2 in the case of detecting the vibrations of the vehicle, and on the other hand, does not correct a position for generating the second virtual image 10B.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a virtual image generation system, a virtual image generation method, and a computer program that generate a virtual image visually recognized by a vehicle occupant.

  Conventionally, various means have been used as information providing means for providing driving information such as route guidance and obstacle warnings to passengers of moving bodies such as vehicles. For example, display on a liquid crystal display installed on a moving body, sound output from a speaker, and the like. In recent years, as one of such information providing means, a head-up display device (hereinafter referred to as HUD) is used in a space different from a position where an image is actually displayed using an illusion of human eyes. There is a system for visualizing images.

  For example, as described in Japanese Patent Application Laid-Open No. 2006-142897, an HUD installed particularly on a vehicle as a moving body is viewed in front of a vehicle window (for example, a front window) as viewed from the vehicle occupant. It is possible to generate driving information (for example, a mark indicating an obstacle ahead) as a virtual image by superimposing it on the surrounding environment. As a result, the occupant can reduce the line-of-sight movement as much as possible when visually confirming the driving information, and can further reduce the burden during driving.

  Here, in the case where guidance is performed by superimposing a virtual image generated by the HUD on the surrounding environment, it is important that the virtual image is superimposed on an appropriate position with respect to the surrounding environment. For example, when a mark indicating an obstacle ahead is generated as a virtual image, it must be superimposed on the position of the obstacle. Moreover, the arrow which shows the advancing direction of a vehicle needs to overlap on a road surface. And in HUD, since the passenger | crew visually recognizes the front of the advancing direction with the correct attitude | position and controls the position which produces | generates a virtual image on the assumption that a vehicle drive | works horizontally with respect to the ground, for example, a vehicle is by the unevenness | corrugation of a road surface. In the case of vibration, a virtual image may be generated at a position shifted from the originally assumed position. Japanese Patent Laid-Open No. 2006-142897 proposes a technique for calculating the amount of movement of the windshield when the vehicle vibrates due to a step or the like and correcting the display position of the image according to the calculated amount of movement.

JP 2006-142897 A (page 6-7, FIG. 3)

  Here, the virtual image to be generated by the HUD mounted on the vehicle is not only a virtual image that is guided by being superimposed on the surrounding environment and visually recognized by the occupant, but is also made visible to the occupant without being superimposed on the surrounding environment. There is also a virtual image that provides guidance. For example, since the current vehicle speed, time, TV screen, e-mail screen, and the like are information not related to the surrounding environment, guidance is performed by allowing the occupant to visually recognize the information without superimposing the surrounding environment. However, in the HUD described in Patent Document 1, correction is performed uniformly regardless of what kind of virtual image the generated virtual image is.

  As a result, when the vehicle vibrates, the generation position of the virtual image that is visible to the occupant without being superimposed on the surrounding environment also varies depending on the vibration of the vehicle (that is, the shaking of the surrounding environment viewed from the occupant). , Give a sense of incongruity to the way the virtual image looks. In addition, if the same correction is performed on all virtual images, a virtual image that is guided by being superimposed on the surrounding environment and visually recognized by the passenger, and a virtual image that is guided by being visually recognized by the passenger without being superimposed on the surrounding environment There is also a problem that it is difficult for the user to visually distinguish.

  The present invention has been made in order to solve the above-described conventional problems. When a vehicle vibrates, a virtual image that is guided by being superposed on the surrounding environment and visually recognized by an occupant is generated according to the vibration. On the other hand, for virtual images that are guided by allowing passengers to visually recognize them without being superimposed on the surrounding environment, virtual images that enable provision of appropriate information using virtual images without changing unnecessary generation positions It is an object to provide a generation system, a virtual image generation method, and a computer program.

In order to achieve the above object, a virtual image generation system according to the present invention is mounted on a vehicle and generates a virtual image of the video by causing a passenger of the vehicle to visually recognize the video displayed on a video display surface for displaying the video. In the virtual image generation system, a virtual image of the video is superimposed on a surrounding environment and is visually recognized by the occupant, and is guided to the occupant without being superimposed on the surrounding environment. A vibration detection unit that detects a vibration of the vehicle, and a vibration of the vehicle detected by the vibration detection unit when the vibration detection unit detects the vibration of the vehicle. And a virtual image position correcting unit that corrects a position where the first virtual image is generated based on the position and does not correct a position where the second virtual image is generated.
The “position for generating a virtual image” is not an absolute position, but is defined by a relative position with respect to the line of sight of a passenger who is a user viewing the virtual image.

  The virtual image generation method according to the present invention is a virtual image generation method for generating a virtual image of the video by causing a vehicle occupant to visually recognize the video displayed on the video display surface for displaying the video. Specifically, the virtual image of the video is guided by being visually recognized by the occupant without being superimposed on the first virtual image that is guided by being superimposed on the surrounding environment and being visually recognized by the occupant. A step of detecting the vibration of the vehicle by the vibration detection means, and the vibration detection means when the virtual image position correction means detects the vibration of the vehicle by the vibration detection means. Correcting the position for generating the first virtual image based on the detected vibration of the vehicle, and not correcting the position for generating the second virtual image.

  Moreover, the computer program which concerns on this invention is a computer program which produces | generates the virtual image of the said image | video by making the passenger | crew of a vehicle visually recognize the said image | video displayed on the image | video display surface which displays an image | video. Specifically, the virtual image of the video is guided by being visually recognized by the occupant without being superimposed on the first virtual image that is guided by being superimposed on the surrounding environment and being visually recognized by the occupant. A vibration detection means for detecting the vibration of the vehicle, and the vibration of the vehicle detected by the vibration detection means when the vibration detection means detects the vibration of the vehicle. The position where the first virtual image is generated is corrected based on the above, while the position where the second virtual image is generated is functioned as a virtual image position correcting unit which does not correct the position.

  According to the virtual image generation system, the virtual image generation method, and the computer program according to the present invention having the above-described configuration, when a vehicle vibrates, a virtual image that is guided by being superposed on the surrounding environment and visually recognized by an occupant depends on the vibration. Thus, by correcting the generation position, it is possible to appropriately superimpose continuously on the surrounding environment. On the other hand, an unnecessary generation position is not changed for a virtual image that is guided by being visually recognized by an occupant without being superimposed on the surrounding environment. As a result, the occupant can visually recognize the virtual image in an appropriate manner according to whether the virtual image is superimposed. For example, for the virtual image that is visible to the passenger without being superimposed on the surrounding environment, the generation position does not change according to the vibration of the vehicle (that is, the shaking of the surrounding environment viewed from the passenger). There is no sense of incongruity to vehicle occupants. In addition, it is possible to prevent the occupant from confusing the virtual image that is guided by being superimposed on the surrounding environment and visually recognized by the occupant and the virtual image that is guided by being visually recognized by the occupant without being superimposed on the surrounding environment. As a result, it is possible to provide appropriate information using a virtual image.

It is a schematic block diagram of the virtual image generation system which concerns on this embodiment. It is the block diagram which showed the navigation apparatus which concerns on this embodiment. It is the figure which showed the internal structure of HUD which concerns on this embodiment. It is a flowchart of the virtual image generation processing program which concerns on this embodiment. It is the figure which showed an example of the virtual image visually recognizable from the passenger | crew of a vehicle. It is a figure explaining a vehicle posture. It is the figure explaining the detail of the process which correct | amends the production | generation position of a virtual image. It is the figure which showed an example of the virtual image which can be visually recognized from the passenger | crew of a vehicle, when the production | generation position of a virtual image is correct | amended. It is the figure which showed an example of the virtual image which can be visually recognized from the passenger | crew of a vehicle, when the production | generation position of a virtual image is correct | amended. It is a flowchart of a sub-processing program of video adjustment processing.

  Hereinafter, based on one embodiment which materialized virtual image generating system 1 concerning the present invention, it explains in detail, referring to drawings. First, a schematic configuration of the virtual image generation system 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a schematic configuration diagram of a virtual image generation system 1 according to the present embodiment.

  As shown in FIG. 1, the virtual image generation system 1 basically includes a navigation device 3 mounted on the vehicle 2 and a head-up display device (hereinafter referred to as HUD) 4 mounted on the vehicle 2.

  Here, the navigation device 3 searches for a recommended route to the destination, detects the current position of the vehicle 2, obtains it from the server, or based on map data stored in the memory, around the current position of the vehicle 2 A map image, and a function of performing movement guidance along with the set guidance route together with the HUD 4. Note that the navigation device 3 does not have to have all of the above functions, and the present invention can be configured as long as it has a function of performing movement guidance along at least a set guidance route. Details of the structure of the navigation device 3 will be described later.

  On the other hand, the HUD 4 is installed inside the dashboard 5 of the vehicle 2 and has a projector 7 and a screen 7 on which an image from the projector 6 is projected. Then, the image projected on the screen 7 is further reflected on the front window 8 in front of the driver's seat through a concave mirror provided in the HUD 4 as will be described later, so that the passenger 9 of the vehicle 2 can visually recognize the image. . The image projected on the screen 7 includes information related to the vehicle 2 and various information used for assisting the driving of the occupant 9. For example, a warning for an obstacle (another vehicle or a pedestrian), guidance information set by the navigation device 3 or guidance information based on the guidance route (an arrow indicating a right or left turn direction, etc.), a warning displayed on the road surface (attention for rear-end collision, speed limit) Etc.), current vehicle speed, information sign, map image, traffic information, news, weather forecast, time, connected smartphone screen, TV program, and the like.

  Further, in the HUD 4 of the present embodiment, when the occupant 9 visually recognizes an image projected on the screen 7 by reflecting the front window 8, the occupant 9 is not at the position of the front window 8 but at the tip of the front window 8. An image projected on the screen 7 at a distant position is configured to be visually recognized as a virtual image 10. Note that the virtual image 10 that can be seen by the occupant 9 is an image projected on the screen 7, but the vertical and horizontal directions may be reversed via a concave mirror or a reflective mirror. It is necessary to project the image to the camera. It is also possible to generate a virtual image 10 in which an image projected on the screen 7 is enlarged through a Fresnel lens or a concave mirror.

  Here, regarding the position where the virtual image 10 is generated, more specifically, the distance L from the occupant 9 to the virtual image 10 (hereinafter referred to as a generation distance) L, the curvature of the concave mirror or Fresnel lens provided in the HUD 4, the screen 7 and the concave mirror It can be appropriately set depending on the relative position or the like. For example, if the curvature of the concave mirror or Fresnel lens is fixed, the generation distance L is determined by the distance (optical path length) along the optical path from the position where the image is displayed on the screen 7 to the concave mirror. For example, the optical path length is set so that the generation distance L is 40 m. Details of the structure of the HUD 4 will be described later.

  A front camera 11 is installed above the front bumper of the vehicle, behind the rearview mirror, and the like. The front camera 11 is an imaging device having a camera using a solid-state imaging device such as a CCD, for example, and is installed with the optical axis direction facing forward in the traveling direction of the vehicle. Then, by performing image processing on the captured image captured by the front camera 11, the situation of the front environment (that is, the environment in which the virtual image 10 is superimposed) that is visually recognized by the occupant 9 through the front window 8 is detected. Is done. Further, it is also used as means for detecting the vibration of the vehicle 2 (more specifically, the displacement direction and displacement amount from the reference posture of the vehicle posture) from the displacement of the captured image. A sensor such as a millimeter wave radar may be used instead of the front camera 11.

  Next, a schematic configuration of the navigation device 3 constituting the virtual image generation system 1 will be described with reference to FIG. FIG. 2 is a block diagram showing the navigation device 3 according to the present embodiment.

  As shown in FIG. 2, the navigation device 3 according to the present embodiment includes a current position detection unit 12 that detects the current position of the vehicle 2 on which the navigation device 3 is mounted, and a data recording unit 13 that records various data. The navigation ECU 14 that performs various arithmetic processes based on the input information, the operation unit 15 that receives operations from the user, and the liquid crystal display 16 that displays facility information related to the map and facilities around the vehicle to the user. Communication for communicating with an information center such as a VICS (registered trademark: Vehicle Information and Communication System) center, and a speaker 17 that outputs voice guidance related to route guidance, a DVD drive 18 that reads a DVD as a storage medium, and the like. And a module 19. The navigation device 3 is connected to the above-described HUD 4 and the front camera 11, and further the vehicle control ECU 20 and the like via an in-vehicle network such as CAN.

Below, each component which the navigation apparatus 3 has is demonstrated in order.
The current position detection unit 12 includes a GPS 21, a vehicle speed sensor 22, a steering sensor 23, a gyro sensor 24, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like. . Here, in particular, the vehicle speed sensor 22 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs a pulse signal to the navigation ECU 14. And navigation ECU14 calculates the rotational speed and moving distance of a driving wheel by counting the generated pulse. In addition, it is not necessary for the navigation device 3 to include all the four types of sensors, and the navigation device 3 may include only one or a plurality of types of sensors.

  The data recording unit 13 is a driver for reading out an external storage device and a hard disk (not shown) as a recording medium, a map information DB 31 and a predetermined program recorded in the hard disk, and writing predetermined data in the hard disk And a recording head (not shown). The data recording unit 13 may include a flash memory, a memory card, an optical disk such as a CD or a DVD, instead of the hard disk. The map information DB 31 may be stored in an external server, and the navigation device 3 may be configured to acquire by communication.

  Here, the map information DB 31 is, for example, link data 32 regarding roads (links), node data 33 regarding node points, point data 34 regarding points such as facilities, intersection data regarding each intersection, and map display data for displaying a map. The storage means stores search data for searching for routes, search data for searching for points, and the like.

  Here, as the link data 32, for example, a link ID for identifying the link, end node information for specifying a node located at the end of the link, a road type of a road formed by the link, and the like are stored. . The node data 33 stores a node ID for identifying the node, position coordinates of the node, connection destination node information for specifying a connection destination node to which the node is connected through a link, and the like. Further, as the point data 34, various types of information related to the facility to be set as the destination are stored. For example, an ID for specifying a facility, a facility name, position coordinates, a genre, an address, and the like are stored.

  On the other hand, the navigation ECU (Electronic Control Unit) 14 is an electronic control unit that controls the entire navigation device 3, and includes a CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processes. Read out from the ROM 43 and the ROM 43 in which the RAM 42 storing the route data when the route is searched, the control program, the virtual image generation processing program (FIG. 4) described later, and the like are recorded. An internal storage device such as a flash memory 44 for storing the program is provided. The navigation ECU 14 has various means as processing algorithms. For example, the vibration detection means detects the vibration of the vehicle 2. When the vibration of the vehicle 2 is detected, the virtual image position correcting unit corrects the position of the virtual image 10 generated by the HUD 4 based on the detected vibration of the vehicle 2.

  The operation unit 15 is operated when inputting a starting point as a travel start point and a destination as a travel end point, and has a plurality of operation switches (not shown) such as various keys and buttons. The navigation ECU 14 performs control to execute various corresponding operations based on switch signals output by pressing the switches. The operation unit 15 may have a touch panel provided on the front surface of the liquid crystal display 16. Moreover, you may have a microphone and a speech recognition apparatus.

  In addition, the liquid crystal display 16 includes a map image including a road, traffic information, operation guidance, operation menu, key guidance, guidance route from the departure point to the destination, guidance information along the guidance route, news, weather forecast, Time, mail, TV program, etc. are displayed. In this embodiment, since the HUD 4 is provided as information display means, the liquid crystal display 16 may be omitted if the map image or the like is displayed on the HUD 4.

  In addition, the speaker 17 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 14 or traffic information guidance.

  The DVD drive 18 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Based on the read data, music and video are reproduced, the map information DB 31 is updated, and the like. A card slot for reading / writing a memory card may be provided instead of the DVD drive 18.

  The communication module 19 is a communication device for receiving traffic information including information such as traffic jam information, regulation information, and traffic accident information transmitted from a traffic information center, for example, a VICS center or a probe center. For example, a mobile phone or DCM is applicable.

  The vehicle control ECU 20 is an electronic control unit that controls the vehicle 2 on which the navigation device 3 is mounted. In addition, the vehicle control ECU 20 is connected to each mechanism of the vehicle 2 such as a steering, a brake, an accelerator, and a suspension, and controls each mechanism and grasps an operation state. In this embodiment, a signal indicating suspension operation information is transmitted to the navigation ECU 14 in particular. The navigation ECU 14 detects the vibration of the vehicle (more specifically, the displacement direction and the displacement amount of the vehicle posture from the reference posture) based on the suspension operation information acquired from the vehicle control ECU 20.

  Next, a schematic configuration of the HUD 4 included in the virtual image generation system 1 will be described with reference to FIG. FIG. 3 is a diagram showing an internal configuration of the HUD 4 according to the present embodiment.

  As shown in FIG. 3, the HUD 4 basically includes a projector 6, a screen 7, a reflecting mirror 50, a concave mirror 51, a cover glass 52, a control circuit unit 53, and a CAN interface 54.

  Here, the projector 6 is an image projection apparatus using an LED light source, a lamp light source, or a laser light source as a light source, and is a laser scanning projector, for example. The projector 6 may be a DLP projector, a liquid crystal projector, or an LCOS projector. When a projector other than the laser scanning projector is used, it is necessary to separately provide a projection lens for the projector 6.

  On the other hand, the screen 7 is a projection medium on which an image projected from the projector 6 is projected. For example, a transmissive screen made of a diffusing plate such as ground glass or a microlens array is used. The screen 7 has a projection area as a video projection surface on which a video is projected, and a video projected from the projector 6 is displayed using light from a light source. That is, the screen 7 corresponds to a video display surface on which video is displayed. In addition, the passenger | crew 9 will visually recognize the image | video projected by the projector 6 from the opposite side to a projection side.

  Further, instead of the projector 6 and the screen 7, a liquid crystal display, an organic EL display, or the like may be used as means for displaying an image to be visually recognized by the occupant 9. In that case, the backlight of the liquid crystal display or the light emitting element of the organic EL display corresponds to the light source, and the surface on which the image is displayed in the liquid crystal display or the organic EL display corresponds to the liquid crystal display surface.

  The reflection mirror 50 is disposed between the screen 7 and the concave mirror 51 along the optical path connecting the screen 7 and the concave mirror 51, and reflects light that changes the optical path incident from the screen 7 in the direction toward the concave mirror 51. Means.

  On the other hand, the concave mirror 51 is a projection mirror that generates a virtual image 10 (see FIG. 1) in front of the occupant 9 by enlarging and reflecting the image displayed on the screen 7 so that the occupant 9 can visually recognize the image. As the concave mirror 51, a spherical concave mirror, an aspherical concave mirror, or a free-form curved mirror for correcting distortion of a projected image is used. Since the image projected on the screen 7 is reflected by the concave mirror 51, the generated virtual image 10 is an image that is vertically inverted from the image projected on the screen 7.

  The cover glass 52 is a transmissive plate-like member disposed on the upper surface of the HUD 4. Then, the image displayed on the screen 7 is reflected by the concave mirror 51 and made visible to the occupant 9 through the cover glass 52. As the cover glass 52, a Fresnel lens may be used. When a Fresnel lens is used as the cover glass 52, a flat mirror can be used instead of the concave mirror 51.

  The control circuit unit 53 is an electronic control unit that performs overall control of the HUD 4. Here, the control circuit unit 53 includes a CPU as an arithmetic device and a control device, a RAM used as a working memory when the CPU performs various arithmetic processes, a control program, and a control for generating a virtual image. An internal storage device such as a ROM in which programs are recorded is provided. The control circuit unit 53 is connected to the projector 6 and performs drive control of the projector 6.

  The CAN (controller area network) interface 54 is an interface for inputting / outputting data to / from CAN, which is a vehicle-mounted network standard that performs multiplex communication between various vehicle-mounted devices and vehicle equipment control devices installed in the vehicle. It is. The HUD 4 is connected to various on-vehicle devices and vehicle equipment control devices (for example, the navigation device 3 and the AV device) via the CAN so as to communicate with each other. Accordingly, the HUD 4 is configured to be able to project information acquired from the navigation device 3 or the AV device.

  Next, a virtual image generation processing program executed in the navigation device 3 in the virtual image generation system 1 having the above configuration will be described with reference to FIG. FIG. 4 is a flowchart of the virtual image generation processing program according to this embodiment. Here, the virtual image generation processing program is a program that is executed after an ACC power supply (accessory power supply) of the vehicle is turned on, and generates a virtual image 10 that is visually recognized by the passenger 9 of the vehicle 2 using the HUD 4. 4 and 10 are stored in the RAM 42 and the ROM 43 provided in the navigation device 3 and executed by the CPU 41.

  First, in step (hereinafter abbreviated as S) 1 in the virtual image generation processing program, the CPU 41 transmits a video output start signal to the HUD 4 and starts projecting video on the screen 7 by the projector 6. The video projected by the projector 6 includes information relating to the vehicle 2 and various information used for assisting the driving of the occupant 9. For example, a warning for an obstacle (another vehicle or a pedestrian), a guidance route (scheduled travel route) set by the navigation device 3, guidance information based on the guidance route (such as an arrow indicating the traveling direction of the vehicle), the current vehicle speed, and a guidance sign , Map image, traffic information, news, weather forecast, time, connected smartphone screen, TV screen and so on. In particular, in this embodiment, an arrow indicating the traveling direction of the vehicle, which is guidance information based on the guidance route set by the navigation device 3, and the current vehicle speed information of the vehicle are output.

  As a result, for example, when a guidance route is set in the navigation device 3 and there is no intersection to be turned right or left in front of the traveling direction of the vehicle, the vehicle travels straight ahead in the traveling direction of the vehicle as shown in FIG. A virtual image 10 of an arrow indicating a direction (hereinafter referred to as a first virtual image 10A) is generated. Similarly, a virtual image 10 (hereinafter referred to as a second virtual image 10B) indicating the current vehicle speed of the vehicle is generated in the forward direction of the vehicle. The first virtual image 10A is a virtual image that is guided by being superimposed on the surrounding environment and visually recognized by the occupant 9, and the second virtual image 10B is guided by being visually recognized by the occupant 9 without being superimposed on the surrounding environment. It becomes a virtual image to do.

  In the first virtual image 10A, an arrow indicating a right / left turn is generated instead of an arrow indicating a straight traveling direction when an intersection to be turned right / left approaches in front of the vehicle in the traveling direction. In the present embodiment, the first virtual image 10A is generated such that the first virtual image 10A is positioned on the ground, more specifically, the lower end of the virtual image is positioned on the ground. As a result, a virtual image of an arrow indicating the traveling direction of the vehicle is generated on the road surface in front of the occupant 9 (for example, 40 m ahead). It is possible to grasp the direction.

  In this embodiment, when vibration of the vehicle 2 is detected as described later, the position where the first virtual image 10A is generated (the position where the virtual image is generated is not an absolute position, but a user who visually recognizes the virtual image) Defined by the relative position of the occupant 9 with respect to the line of sight) so that the superimposed position of the first virtual image 10A with respect to the surrounding environment is not displaced when viewed from the occupant, that is, the lower end of the first virtual image 10A is always on the ground. Control to be located at On the other hand, since the second virtual image 10B is a virtual image that is visually recognized by the occupant 9 without being superimposed on the surrounding environment, even if the vibration of the vehicle 2 is detected as described later, the second virtual image 10B is basically used. The position to be generated is not corrected.

  Subsequently, in S <b> 2, the CPU 41 acquires a captured image captured by the front camera 11. Or it is good also as a structure which acquires the operation information of a suspension from vehicle control ECU20 via CAN.

  Thereafter, in S3, the CPU 41 determines whether or not vehicle vibration has been detected. Here, when the captured image captured by the front camera 11 is acquired in S <b> 2, the CPU 41 detects an obstacle or a lane marking located in the forward direction of the vehicle by performing image processing on the captured image. To do. And it is determined whether the vehicle vibrated based on the displacement of the position of the obstruction in the captured image and the lane marking. On the other hand, when the suspension operation information is acquired from the vehicle control ECU 20 in S2, the CPU 41 determines whether or not the vehicle vibrates using the acquired suspension operation information. In addition to the case where the vehicle travels on an uneven road surface, the cause of vibration in the vehicle includes sudden acceleration, sudden deceleration, and sudden turning. In addition, in order to prevent frequent correction control of the following virtual image generation position, it is determined in S3 whether or not a vibration of a predetermined threshold value or more (for example, a pitch of ± 3 degrees or more) is detected. It is good also as a structure.

  And when it determines with having detected the vibration of the vehicle (S3: YES), it transfers to S4. On the other hand, when it is determined that the vibration of the vehicle is not detected (S3: NO), the virtual image generation processing program is terminated without correcting the position where the virtual image is generated.

  In S4, the CPU 41 determines whether or not the first virtual image 10A has been generated particularly at the present time. Here, the first virtual image 10A is a virtual image that is guided by being superposed on the surrounding environment and being visually recognized by the occupant 9 as described above. In this embodiment, the first virtual image 10A is guidance information based on the guidance route set by the navigation device 3. This corresponds to a virtual image of an arrow indicating the traveling direction of the vehicle (see FIG. 5).

  And when it determines with producing | generating the 1st virtual image 10A (S4: YES), it transfers to S5. On the other hand, if it is determined that the first virtual image 10A has not been generated (S4: NO), the virtual image generation processing program is terminated without correcting the position where the virtual image is generated.

  In S5, the CPU 41 detects the displacement direction and the displacement amount of the vehicle posture from the reference posture based on the captured image of the front camera 11 or the suspension operation information acquired in S3. In S4, as the displacement direction and displacement amount of the vehicle posture from the reference posture, parameters of the roll, pitch, and yaw, particularly the rotation direction and rotation amount of the pitch are calculated. As shown in FIG. 6, the traveling direction of the vehicle 2 is the X axis, the road surface passing through the center of gravity of the vehicle horizontally to the road surface, the line segment perpendicular to the X axis is the Y axis, and the intersection of the X axis and the Y axis. If the line segment perpendicular to the Z axis is defined as the Z axis, the pitch of the vehicle 2 is defined as the rotation direction and rotation amount around the Y axis (XZ plane). Further, the reference posture of the vehicle posture is a posture that is positioned horizontally with respect to the road surface.

  In S6, based on the displacement of the vehicle posture calculated in S5, the CPU 41 does not displace the superimposed position of the first virtual image 10A with respect to the surrounding environment when viewed from the occupant in a state where the vehicle posture is displaced (that is, the first virtual image 10A The display position of the image on the screen 7 for the lower end is located on the ground is newly calculated. In the HUD 4 according to the present embodiment, if the position where the video is displayed on the screen 7 is moved downward, the position of the virtual image generated by the displayed video is moved upward in the vertical direction. If the position for displaying the image is moved upward, the position of the virtual image generated by the displayed image moves downward (on the ground side) in the vertical direction. In the following description, a video displayed on the screen 7 for generating the first virtual image 10A is referred to as a first video, and a video displayed on the screen 7 for generating the second virtual image 10B is referred to as a second video. . In S6, a new display position of the first video is calculated.

  After that, in S7, the CPU 41 determines whether or not the second virtual image 10B is generated in addition to the first virtual image 10A at the present time. Here, as described above, the second virtual image 10B is a virtual image that is guided by being visually recognized by the occupant 9 without being superimposed on the surrounding environment, and in this embodiment, the virtual image of the current vehicle speed information of the vehicle is applicable ( (See FIG. 5).

  When it is determined that the second virtual image 10B is generated in addition to the first virtual image 10A (S7: YES), the process proceeds to S9. On the other hand, when it is determined that the second virtual image 10B is not generated and only the first virtual image 10A is generated (S7: NO), the process proceeds to S8.

  In S8, the CPU 41 transmits information regarding the display position of the new first video calculated in S6 to the HUD 4. In response to this, the HUD 4 controls the projector 6 to display the first image at the display position of the screen 7 calculated in S6, and the display position of the first image on the screen 7 (that is, with respect to the sight line of the passenger). The position where the first virtual image 10A is generated is changed.

  For example, as shown in FIG. 7, when the pitch of the vehicle 2 is displaced in the direction in which the front end of the vehicle is lifted, if the position of the first image 55 projected on the screen 7 is not changed, the occupant of the vehicle 2 As a result, the superimposed position of the first virtual image 10A with respect to the surrounding environment is displaced. Specifically, the lower end of the first virtual image 10A is separated from the ground. Therefore, in S7, the CPU 41 moves the position of the first video 55 projected onto the screen 7 upward. As a result, the generation position of the first virtual image 10A is corrected downward (on the ground side) in the vertical direction, and the first virtual image 10A is viewed without being displaced from the surrounding position of the first virtual image 10A without being displaced. It becomes possible to maintain the lower end of the virtual image 10A on the ground. The processes after S5 are continuously performed while the vibration of the vehicle 2 is detected.

  On the other hand, in S9, the CPU 41 compares the display position of the new first video and the display position of the second video calculated in S6 on the screen 7, and displays the display position of the new first video and the display of the second video. It is determined whether at least a part of the position overlaps.

  If it is determined that at least a part of the display position of the new first video and the display position of the second video overlap (S9: YES), the process proceeds to S10. On the other hand, when it is determined that the display position of the new first video and the display position of the second video do not overlap (S9: NO), the process proceeds to S8. In S8, as described above, the display position of the first video on the screen 7 is changed, but the display position of the second video is not changed. As a result, as shown in FIG. 8, when the pitch of the vehicle 2 is displaced in the direction in which the vehicle tip is lifted, the generation position of the first virtual image 10A is corrected downward (ground side) in the vertical direction. On the other hand, the generation position of the second virtual image 10B is not corrected. Note that the superimposed position of the second virtual image 10B with respect to the surrounding environment as viewed from the occupant changes due to the displacement of the pitch of the vehicle 2, but in the first place, the second virtual image 10B is visually recognized by the occupant 9 without being superimposed on the surrounding environment. Because this is a virtual image that guides, there is no problem.

  On the other hand, in S10, the CPU 41 executes a video adjustment process (FIG. 10) described later. In the video adjustment process, the first video and the second video are overlapped by setting the hierarchy (drawing order) and brightness of the first video and the second video displayed on the screen 7 as described later to appropriate conditions. In this case, the first virtual image 10A and the second virtual image 10B are adjusted so as to be appropriately visually recognized by the vehicle occupant.

  Thereafter, the process proceeds to S8. In S8, the display position of the first video on the screen 7 is changed, so that the first video and the second video are displayed on the screen 7 in an overlapping manner. Therefore, as shown in FIG. 9, the first virtual image 10A and the second virtual image 10B are generated in an overlapping manner. However, as described later, the first virtual image 10A and the second virtual image 10B are guided by setting the hierarchy (drawing order) and brightness of the first video and the second video displayed on the screen 7 in S10 to appropriate conditions. This makes it possible to appropriately perform guidance for the vehicle occupant.

  Next, the sub-process of the video adjustment process executed in S10 will be described with reference to FIG. FIG. 10 is a flowchart of a sub-processing program for video adjustment processing.

  First, in S11, the CPU 41 sets a hierarchy (drawing order) of the first video and the second video. Specifically, the second video is set in an upper layer than the first video. That is, in the area where the first video and the second video overlap, the second video is displayed with priority over the first video.

  Next, in S12, the CPU 41 determines whether or not the display colors of the first video and the second video that are currently displayed have the same hue. Note that it is not necessary for the RGB values to completely match the same hue, and it is desirable to make a determination with a certain width. That is, it is desirable to consider the same hue as long as the hues are the same (for example, red, blue, yellow, etc.). When the first video and the second video include a plurality of hues, the determination in S12 is performed by comparing the hues in an area where the first video and the second video overlap.

  And when it determines with the display color of the 1st image | video currently displayed and the 2nd image | video having the same hue (S12: YES), it transfers to S13. On the other hand, when it is determined that the first video and the second video do not have the same hue (S12: NO), the process proceeds to S8 without adjusting the brightness of the first video and the second video.

  In S <b> 13, the CPU 41 determines whether the brightness of the first video that is currently displayed is greater than or equal to a threshold value. In addition, although the threshold value used as the determination criterion of S13 can be appropriately set, for example, it is set as a lower limit value of brightness that allows the vehicle occupant to clearly see the contents of the virtual image. The threshold value may be changeable according to the surrounding weather.

  And when it determines with the brightness of the 1st image | video currently displayed being more than a threshold value (S13: YES), it transfers to S14. On the other hand, when it is determined that the brightness of the first video currently displayed is less than the threshold value (S13: NO), the process proceeds to S15.

  In S14, the CPU 41 decreases the brightness of the first video. Specifically, the brightness of the first video is set so that the brightness of the first video is lower than the brightness of the second video by a predetermined value or more (for example, 20% or more). However, if the brightness of the first video is already lower than the brightness of the second video by a predetermined value or more, the process of S14 is not performed. Thereafter, the process proceeds to S8.

  On the other hand, in S15, the CPU 41 increases the brightness of the second video. Specifically, the brightness of the second video is set so that the brightness of the first video is lower than the brightness of the second video by a predetermined value or more (for example, 20% or more). However, if the brightness of the first video is already lower than the brightness of the second video by a predetermined value or more, the process of S15 is not performed. Thereafter, the process proceeds to S8.

  In the present embodiment, the first virtual image as shown in FIG. 9 is set by setting the hierarchy (drawing order) and brightness of the first video and the second video displayed on the screen 7 in S11 to S15 to appropriate conditions. Even when 10A and the second virtual image 10B are generated in an overlapping manner, the first virtual image 10A and the second virtual image 10B are appropriately viewed by the vehicle occupant, and guidance by the first virtual image 10A and the second virtual image 10B are obtained. This makes it possible to appropriately perform guidance for the vehicle occupant.

  Specifically, since the first virtual image 10A is an arrow indicating the traveling direction, the validity of the information is not lost even if a part of the first virtual image 10A is hidden behind numbers or characters and is not displayed as shown in FIG. On the other hand, since the second virtual image 10B is a number indicating the current vehicle speed, there is a possibility that accurate information cannot be guided if part of the second virtual image 10B is hidden. Therefore, in the present embodiment, the second video is displayed with priority over the first video, so that the occupant of the vehicle does not lose the effectiveness of the guidance by the first virtual image 10A and the guidance by the second virtual image 10B. Accordingly, it is possible to provide appropriate guidance. In addition, since the second virtual image 10B that does not overlap with the surrounding environment can be visually recognized by the vehicle occupant so that the second virtual image 10B is superimposed on the front side of the first virtual image 10A that overlaps with the surrounding environment, a virtual image that is more uncomfortable is generated. It becomes possible.

  Further, when the display colors of the first video and the second video are the same hue, the first virtual image 10A and the second virtual image are given to the vehicle occupant by causing a difference in brightness between the first video and the second video. This makes it possible to visually distinguish 10B. In particular, by making the brightness of the first video lower than the brightness of the second video, the user can visually recognize the second virtual image 10B so as to be closer to the front than the first virtual image 10A. As a result, the second virtual image 10B that does not overlap with the surrounding environment can be visually recognized by the vehicle occupant so that the second virtual image 10B is on the near side of the first virtual image 10A that overlaps with the surrounding environment. It becomes possible to do.

  As described above in detail, in the virtual image generation system 1, the virtual image generation method using the virtual image generation system 1, and the computer program executed by the virtual image generation system 1 according to the present embodiment, the vehicle image is visually recognized by the vehicle occupant 9 superimposed on the surrounding environment. The first virtual image 10A that performs guidance by generating the first virtual image 10B and the second virtual image 10B that performs guidance by causing the vehicle occupant 9 to visually recognize without superimposing on the surrounding environment are generated (S1), and vibration of the vehicle 2 is generated. If the vehicle vibration is detected (S2), the position for generating the first virtual image 10A is corrected based on the detected vibration of the vehicle 2, while the position for generating the second virtual image 10B is corrected. (S8) is configured so that the first virtual image 10A that is guided by being superposed on the surrounding environment and visually recognized by the passenger is continued in the surrounding environment. While it is possible to appropriately superimposed, there is no possible to perform variation of unwanted generation position for the second virtual image 10B to perform guidance by visually recognized by the passenger without superimposed on the surrounding environment. As a result, the occupant can visually recognize the virtual image in an appropriate manner according to whether the virtual image is superimposed. For example, the generation position of the second virtual image 10B that is visually recognized by the occupant without being superimposed on the surrounding environment does not change according to the vibration of the vehicle (that is, the fluctuation of the surrounding environment viewed from the occupant). There is no sense of incongruity to the vehicle occupants in terms of visibility. Also, the occupant confuses the first virtual image 10A that is guided by being superimposed on the surrounding environment and visually recognized by the occupant, and the second virtual image 10B that is guided by being visually recognized by the occupant without being superimposed on the surrounding environment. Can also be prevented. As a result, it is possible to provide appropriate information using a virtual image.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in the present embodiment, the virtual image is generated in front of the front window 8 of the vehicle 2 by the HUD 4, but the virtual image may be generated in front of a window other than the front window 8. In addition, the object to be reflected by the HUD 4 may be a visor (combiner) installed around the front window 8 instead of the front window 8 itself.

  In the present embodiment, the virtual image generation system 1 is installed on the vehicle 2, but may be installed on a moving body other than the vehicle 2. For example, it can be installed on a ship or an aircraft. Moreover, you may install in the ride type attraction installed in an amusement facility. In that case, a virtual image can be generated around the ride so that the rider can visually recognize the virtual image.

  Moreover, in this embodiment, although the arrow which guides the advancing direction of the vehicle along a guidance path | route is produced | generated as 1st virtual image 10A which guides by superimposing on the surrounding environment and making it visually recognized by the passenger | crew 9, A virtual image other than an arrow that guides the traveling direction of the first virtual image 10A may be generated as the first virtual image 10A. For example, there are warnings for obstacles (other vehicles and pedestrians).

  In the present embodiment, the current vehicle speed of the vehicle is generated as the second virtual image 10B that is guided by being visually recognized by the occupant 9 without being superimposed on the surrounding environment. However, the virtual image of the vehicle other than the current vehicle speed is generated. May be generated as the second virtual image 10B. For example, there are information signs, map images, traffic information, news, weather forecasts, times, connected smartphone screens, television screens, and the like.

  Further, in the present embodiment, the position where the first virtual image 10A is generated is corrected by displacing the display position of the first video on the screen 7, but the display position of the first video on the screen 7 is displaced. Instead, a configuration may be adopted in which the position at which the first virtual image 10A is generated is corrected by changing the position and angle of the concave mirror 51 that changes the optical path.

  In this embodiment, the vehicle posture is specified by the pitch rotation direction and the rotation amount parameter (S5), but the yaw and roll may also be specified. When specifying the yaw and the roll, it is possible to correct the generation position of the first virtual image 10A in consideration of not only the vertical vibration but also the horizontal vibration.

  In the present embodiment, when the first video and the second video overlap and are displayed in the same hue, the brightness of the first video is adjusted to be lower than the brightness of the second video. (S14, S15) Although it is configured, the brightness of the second video may be made lower than the brightness of the first video. Moreover, you may comprise so that not only lightness but saturation, contrast, and hue may be changed.

  Further, in the present embodiment, the processing of the virtual image generation processing program (FIG. 4) is configured to be executed by the navigation ECU 14 of the navigation device 3, but the execution subject can be changed as appropriate. For example, it is good also as a structure which the control part of HUD4, vehicle control ECU20, and another vehicle equipment perform.

  Moreover, although the Example which actualized the virtual image production | generation system which concerns on this invention was demonstrated above, the virtual image production | generation system can also have the following structures, and there exists the following effect in that case.

For example, the first configuration is as follows.
A virtual image generation system (1) that generates a virtual image (10) of the video by causing the vehicle occupant to visually recognize the video displayed on the video display surface (7) that is mounted on the vehicle (2) and displays the video. Then, the virtual image of the video is superimposed on the surrounding environment, and the occupant visually recognizes the first virtual image (10A) that guides the imaginary image, and the occupant visually recognizes the virtual image without being superimposed on the surrounding environment. A vibration detection means (41) for detecting vibrations of the vehicle, including a second virtual image (10B) for guiding, and detected by the vibration detection means when the vibration detection means detects vibrations of the vehicle. Virtual image position correcting means (41) that corrects the position for generating the first virtual image based on the vibration of the vehicle but does not correct the position for generating the second virtual image.
According to the virtual image generation system having the above configuration, when the vehicle vibrates, the virtual environment that is guided by being superposed on the surrounding environment and visually recognized by the occupant is corrected by generating the position according to the vibration. Can be appropriately superimposed continuously. On the other hand, an unnecessary generation position is not changed for a virtual image that is guided by being visually recognized by an occupant without being superimposed on the surrounding environment. As a result, the occupant can visually recognize the virtual image in an appropriate manner according to whether the virtual image is superimposed. For example, for the virtual image that is visible to the passenger without being superimposed on the surrounding environment, the generation position does not change according to the vibration of the vehicle (that is, the shaking of the surrounding environment viewed from the passenger). There is no sense of incongruity to vehicle occupants. In addition, it is possible to prevent the occupant from confusing the virtual image that is guided by being superimposed on the surrounding environment and visually recognized by the occupant and the virtual image that is guided by being visually recognized by the occupant without being superimposed on the surrounding environment. As a result, it is possible to provide appropriate information using a virtual image.

The second configuration is as follows.
The virtual image position correcting means (41) has a displacement direction due to the vibration of the vehicle detected by the vibration detecting means (41) when the vibration of the vehicle (2) is detected by the vibration detecting means (41). The position where the first virtual image is generated is corrected based on the displacement amount.
According to the virtual image generation system having the above-described configuration, the superimposed position of the virtual image superimposed on the surrounding environment and visually recognized by the occupant does not change regardless of the direction and size of vibration generated with respect to the vehicle. Thus, it becomes possible to make it visible from the vehicle occupant. As a result, it is possible to perform effective guidance using the virtual image without reducing the effectiveness of the guidance using the virtual image.

The third configuration is as follows.
The image displayed on the image display surface (7) includes a first image for generating the first virtual image (10A) and a second image for generating the second virtual image (10B), The virtual image position correcting means (41) corrects the position where the first virtual image is generated by displacing the display position of the first video with respect to the video display surface.
According to the virtual image generation system having the above configuration, the position of the generated virtual image can be easily corrected in units of virtual images by displacing the display position of the video with respect to the video display surface.

The fourth configuration is as follows.
When the first image and the second image overlap as a result of displacing the display position of the first image, the virtual image position correcting means (41) is more effective than the first image in the overlapping area. The second image is displayed with priority.
According to the virtual image generating system having the above-described configuration, the first video and the second video are set to appropriate conditions by setting the first video and the second video in the appropriate order, so that the first video and the second video are overlapped. It is possible to appropriately perform guidance by the virtual image and guidance by the second virtual image to the vehicle occupant. In addition, it is possible for the vehicle occupant to visually recognize the second virtual image that does not overlap with the surrounding environment on the near side of the first virtual image that overlaps with the surrounding environment. As a result, it is possible to generate a virtual image that is more comfortable.

The fifth configuration is as follows.
The virtual image position correcting means (41) is a case where the first image and the second image overlap as a result of displacing the display position of the first image, and the first image and the second image Are of the same hue, the brightness of the first video is made lower than that of the second video.
According to the virtual image generating system having the above-described configuration, the first virtual image and the second video can be set even when the first video and the second video are overlapped by setting the brightness of the first video and the second video to be different. It is possible to identify and guide the two virtual images. Further, by making the brightness of the first video lower than the brightness of the second video, the vehicle occupant is such that the second virtual image that does not overlap with the surrounding environment is closer to the front than the first virtual image that overlaps with the surrounding environment. Can be visually recognized. As a result, it is possible to generate a virtual image that is more comfortable.

The sixth configuration is as follows.
The virtual image position correcting means (41) lowers the brightness of the first video than the second video by lowering the brightness of the first video when the brightness of the first video is equal to or greater than a threshold value. When the brightness of the first video is less than the threshold, the brightness of the first video is made lower than that of the second video by increasing the brightness of the second video.
According to the virtual image generation system having the above-described configuration, it is possible to obtain appropriate brightness that is easy for a vehicle occupant to view without causing the generated virtual image to be too bright or too dark.

The seventh configuration is as follows.
The first virtual image (10A) is a virtual image generated so that the lower end of the virtual image is located on the ground at a predetermined distance from the occupant.
According to the virtual image generation system having the above configuration, the vehicle occupant can view the first virtual image while minimizing the movement of the line of sight as much as possible, and can further reduce the burden during driving. Further, it is possible to perform more effective guidance using a virtual image, particularly when guiding the traveling direction of the vehicle.

The eighth configuration is as follows.
The virtual image position correcting unit corrects a position for generating the first virtual image so that the position of the lower end of the first virtual image is maintained on the ground when the vibration of the vehicle is detected by the vibration detecting unit. To do.
According to the virtual image generation system having the above-described configuration, even when the vehicle vibrates, the first virtual image is prevented from being unnatural such as being separated from the ground or embedded in the ground. Is possible.

The ninth configuration is as follows.
The vehicle has a route acquisition means (41) for acquiring a planned travel route of the vehicle (2), and the first virtual image (10A) travels the vehicle for traveling along the planned travel route. It is an arrow that guides the direction.
According to the virtual image generation system having the above configuration, the occupant can grasp the direction in which the vehicle should travel in the future while minimizing the movement of the line of sight.

1 Virtual Image Generation System 2 Vehicle 3 Navigation Device 4 HUD
6 Projector 7 Screen 10A First Virtual Image 10B Second Virtual Image 14 Navigation ECU
41 CPU
42 RAM
43 ROM

Claims (11)

A virtual image generation system that generates a virtual image of the video by causing a passenger of the vehicle to visually recognize the video displayed on a video display surface that is mounted on a vehicle and displays the video,
The virtual image of the video is a first virtual image that is guided by being superimposed on the surrounding environment and visually recognized by the occupant, and a second virtual image that is guided by being visually recognized by the occupant without being superimposed on the surrounding environment. Including
Vibration detecting means for detecting the vibration of the vehicle;
When the vibration of the vehicle is detected by the vibration detection unit, the position for generating the first virtual image is corrected based on the vibration of the vehicle detected by the vibration detection unit, while the second virtual image is corrected. And a virtual image position correcting unit that does not correct the position to be generated.   The virtual image position correcting unit generates the first virtual image based on a displacement direction and a displacement amount due to the vibration of the vehicle detected by the vibration detecting unit when the vibration of the vehicle is detected by the vibration detecting unit. The virtual image generation system according to claim 1, wherein a position to be corrected is corrected. The video displayed on the video display surface includes a first video for generating the first virtual image and a second video for generating the second virtual image,
3. The virtual image generation system according to claim 1, wherein the virtual image position correction unit corrects a position where the first virtual image is generated by displacing a display position of the first video with respect to the video display surface.   When the first image and the second image overlap as a result of displacing the display position of the first image, the virtual image position correcting unit is configured to perform the second image more than the first image in the overlapping area. The virtual image generation system according to claim 3, wherein video is preferentially displayed.   The virtual image position correcting means is a case where the first image and the second image overlap as a result of displacing the display position of the first image, and the first image and the second image have the same hue. 5. The virtual image generation system according to claim 3, wherein brightness of the first video is lower than that of the second video. The virtual image position correcting means includes
If the brightness of the first video is greater than or equal to a threshold, the brightness of the first video is made lower than the second video by reducing the brightness of the first video,
6. The virtual image generation system according to claim 5, wherein when the brightness of the first video is less than a threshold, the brightness of the first video is made lower than that of the second video by increasing the brightness of the second video. .   The virtual image generation system according to any one of claims 1 to 6, wherein the first virtual image is a virtual image generated so that a lower end of the virtual image is positioned on the ground at a predetermined distance from the occupant.   The virtual image position correcting unit corrects a position for generating the first virtual image so that the position of the lower end of the first virtual image is maintained on the ground when the vibration of the vehicle is detected by the vibration detecting unit. The virtual image generation system according to claim 7. Route acquisition means for acquiring a planned travel route of the vehicle;
The virtual image generation system according to any one of claims 1 to 8, wherein the first virtual image is an arrow that guides a traveling direction of the vehicle for the vehicle to travel along the planned travel route. A virtual image generation method for generating a virtual image of the video by causing a vehicle occupant to visually recognize the video displayed on the video display surface for displaying the video,
The virtual image of the video is a first virtual image that is guided by being superimposed on the surrounding environment and visually recognized by the occupant, and a second virtual image that is guided by being visually recognized by the occupant without being superimposed on the surrounding environment. Including
Vibration detecting means for detecting vibration of the vehicle;
When the virtual image position correcting unit detects the vibration of the vehicle by the vibration detecting unit, the virtual image position correcting unit corrects the position at which the first virtual image is generated based on the vibration of the vehicle detected by the vibration detecting unit. And a step of not correcting the position where the second virtual image is generated. A computer program for generating a virtual image of the video by causing a vehicle occupant to visually recognize the video displayed on the video display surface for displaying the video,
The virtual image of the video is a first virtual image that is guided by being superimposed on the surrounding environment and visually recognized by the occupant, and a second virtual image that is guided by being visually recognized by the occupant without being superimposed on the surrounding environment. Including
Computer
Vibration detecting means for detecting the vibration of the vehicle;
When the vibration of the vehicle is detected by the vibration detection unit, the position for generating the first virtual image is corrected based on the vibration of the vehicle detected by the vibration detection unit, while the second virtual image is corrected. A computer program for functioning as virtual image position correcting means that does not correct the position to be generated.

Images