JP2018077400A - Head-up display - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform appropriate displaying by facilitating recognition of information included in displaying.SOLUTION: A head-up display 100 mounted on a vehicle and displaying a first virtual image 311 on a virtual first virtual image display surface by projecting a display light against a transmission reflection unit includes: a first image display unit 10 having a first display surface corresponding to the first virtual image display surface and emitting a first display light for displaying a first virtual image from the first display surface; a relay optical system 50 for directing a first display light to be emitted from the first image display unit toward the transmission reflection unit; an actuator 40 for turning at least one of the first display surface and the relay optical system so as to adjust an angle in an actual space where the first virtual image display surface is generated; and a control unit 70 for controlling the actuator. A first image display unit 310 sets a first virtual image 311 to be a display impossible state from a display possible state while the control unit 70 changes an angle of the first virtual image display surface 310 from a first angle into a second angle.SELECTED DRAWING: Figure 10

Description

  The present invention relates to a head-up display that displays a virtual image.

  The head-up display superimposes a superimposed image on the scenery (real scene) in front of the host vehicle, thereby adding information to the real scene or emphasizing a specific target in the real scene (AR: Augmented Reality). ) And providing the desired information accurately while minimizing the line of sight movement of the viewer driving the vehicle, contributing to safe and comfortable vehicle operation.

  For example, Patent Document 1 discloses a head-up display that includes two image display units and generates virtual images on two virtual image display surfaces by displaying images on these image display units. The up-display displays two virtual images generated by the first and second image display units by disposing the display surfaces of the first and second image display units at different angles with respect to the visual axis of the viewer. The viewing angle of the display surface is varied. Specifically, the head-up display generates one virtual image display surface so as to be substantially perpendicular to the viewer's line of sight, and tilts the other virtual image display surface in the horizontal direction from the other virtual image display surface. To generate. That is, the two virtual image display surfaces are not parallel but have a predetermined angle. Thus, when the virtual image is displayed on each virtual image display surface by generating the two virtual image display surfaces inclined by a predetermined angle, the viewer can recognize the virtual image three-dimensionally.

JP 2012-037241 A

  However, in the head-up display disclosed in Patent Document 1, the angle between the two virtual image display surfaces is fixed. Therefore, for example, even when the pitch angle of the vehicle changes due to the behavior of the vehicle, such as acceleration / deceleration, the angle between the two virtual image display surfaces is maintained, and the display position is shifted with respect to the actual scene outside the vehicle. It is only visible. As described above, even when the posture (pitch angle) of the vehicle is changed, when the virtual images displayed on the two virtual image display surfaces are similarly shifted from the real scene, which one is displayed on one virtual image display surface. It is difficult to recognize which information is the information displayed on the other virtual image display surface. That is, there is a problem that it becomes difficult to distinguish and recognize information displayed on each virtual image display surface, and the three-dimensional impression is diminished.

  FIG. 11 shows an example of the state of the pitch angle of three vehicles as an example representing the position of the virtual image display surface when the pitch angle of the vehicle changes. FIG. 11A shows the positions of the first virtual image display surface 521r and the second virtual image display surface 522r when the pitch angle of the vehicle is substantially parallel to the road surface, and FIG. 11B shows the pitch of the vehicle. FIG. 11C shows the positions of the first virtual image display surface 521u and the second virtual image display surface 522u when the angle is directed upward in the vertical direction with respect to the road surface, and FIG. 11C shows that the pitch angle of the vehicle is perpendicular to the road surface. The positions of the first virtual image display surface 521d and the second virtual image display surface 522d when facing downward in the direction are shown. In the conventional head-up display, the relative angle between the first virtual image display surface 521 and the second virtual image display surface 522 does not change. For this reason, it is difficult to recognize which of the currently viewed information is displayed on the first virtual image display surface 521 (second virtual image display surface 522), and the three-dimensional impression has faded.

  Incidentally, FIG. 11 shows an example of the traveling state of two vehicles as an example representing the position of the first virtual image display surface 521 when the vehicle travels uphill. FIG. 11D shows the position of the first virtual image display surface 521 when it is substantially parallel to the road surface, and FIG. 11E shows the first virtual image display surface 521 when the vehicle approaches an uphill. Indicates the position. In the conventional head-up display, the position of the first virtual image display surface 521 does not change. For this reason, it is difficult to recognize whether the displayed information is displayed on the road surface (uphill), and the three-dimensional impression has faded. 11D and 11E, the second virtual image display surface 522 is not shown, but the conventional head-up display displays only the first virtual image display surface 521. May be.

  One object of the present invention is to provide a head-up display that facilitates recognition of information included in the display and can perform appropriate display. Another object of the present invention is to provide a head-up display that facilitates differentiation of information included in a stereoscopic display and can display a stereoscopic effect. Other objects of the present invention will become apparent to those skilled in the art by referring to the aspects and best embodiments exemplified below and the accompanying drawings.

  In the following, in order to easily understand the outline of the present invention, embodiments according to the present invention will be exemplified.

In the first aspect, the head-up display that is mounted on the vehicle and can display the first virtual image on the virtual first virtual image display surface by projecting the display light onto the transmissive reflection unit is provided.
A first image display unit that has a first display surface corresponding to the first virtual image display surface and emits first display light for displaying the first virtual image from the first display surface;
A relay optical system for directing the first display light emitted from the first image display unit to the transmission / reflection unit;
An actuator capable of rotating at least one of the first display surface and the relay optical system and adjusting an angle on a real space where the first virtual image display surface is generated;
A control unit for controlling the actuator,
While the control unit changes the angle of the first virtual image display surface from the first angle to the second angle, the first image display unit cannot display the first virtual image from a displayable state. Set to possible state.

  In the first aspect, a configuration is adopted in which the first virtual image is not displayed when the angle of the first virtual image display surface is changed. In other words, when the display of the first virtual image is executed when the angle of the first virtual image display surface is changed, the display of the first virtual image moves. It is difficult for the viewer to recognize the moving first virtual image. Therefore, in the first aspect, it is possible to provide a head-up display capable of executing appropriate display by avoiding such inappropriate display.

In a second aspect dependent on the first aspect,
The control unit may drive the actuator based on information on a road surface gradient in front of the vehicle and information on a vehicle attitude of the vehicle.

  In the second aspect, for example, in order to avoid a state in which the first virtual image on the first virtual image display surface is recessed on the road surface (uphill) when the vehicle proceeds uphill, for example, the road surface gradient of the vehicle ahead of the vehicle. Based on the information and information on the vehicle posture of the vehicle, the actuator can be driven to change the angle of the first virtual image display surface from the first angle to the second angle.

In a third aspect subordinate to the second aspect,
The control unit may drive the actuator according to a difference between a gradient angle corresponding to the road surface gradient and a pitch angle corresponding to the vehicle posture.

  In the third aspect, the driving of the actuator is specifically based on the difference between the gradient angle corresponding to the road surface gradient and the pitch angle corresponding to the vehicle posture. In the third aspect, specifically, based on the difference between these two angles, the actuator is driven to change the angle of the first virtual image display surface from the first angle to the second angle. it can.

In a fourth aspect subordinate to the third aspect,
The controller may start driving the actuator after the difference has occurred over a predetermined time.

  In the fourth aspect, after the difference between the gradient angle corresponding to the road surface gradient and the pitch angle corresponding to the vehicle posture has occurred over a predetermined time, the change in the angle of the first virtual image display surface is confirmed, The actuator can be driven to change the angle of the first virtual image display surface from the first angle to the second angle.

In a fifth aspect subordinate to any one of the first to fourth aspects, the head-up display includes:
A second image display unit may be further provided,
When the first virtual image is set in the display impossible state, the second image display unit may be capable of executing display corresponding to the first virtual image.

  In the fifth aspect, instead of the first virtual image in the first image display unit, the second image display unit while the angle of the first virtual image display surface changes from the first angle to the second angle. Can be displayed. In other words, in the fifth aspect, when the angle of the first virtual image display surface changes, the second image display unit can execute alternative display.

In a sixth aspect subordinate to the fifth aspect,
When the second image display unit executes the display corresponding to the first virtual image, the first image display is performed after the angle of the first virtual image display surface is changed to the second angle. The unit may set the non-displayable state of the first virtual image to the displayable state in order to display the first virtual image.

  In the sixth aspect, it is possible to display the first virtual image on the first image display unit after the angle of the first virtual image display surface changes from the first angle to the second angle. In other words, in the sixth aspect, when the angle of the first virtual image display surface changes, the second image display unit executes the alternative display, while the change of the angle of the first virtual image display surface is completed. Later, the first image display unit can restore the display of the first virtual image.

In a seventh aspect subordinate to the sixth aspect,
The first image display unit and / or the second image display unit are configured to display the first virtual image on the first image display unit and the first image display unit on the second image display unit. You may perform the display which shows the relevance with the said display corresponding to a virtual image.

  In the seventh aspect, when the alternative display on the second image display unit is terminated and the display is switched to the display of the first virtual image on the first image display unit, it is visually confirmed that both displays are the same. In order to allow the person to recognize, for example, the display indicating the relevance such as a guide line is displayed only on the first image display unit, only on the second image display unit, or on the first and second image display units. Both can be executed.

In an eighth aspect subordinate to any one of the first to fourth aspects,
When the control unit stops the angle of the first virtual image display surface at a third angle between the first angle and the second angle, the first image display unit In order to display one virtual image, the non-displayable state of the first virtual image may be set to the displayable state.

  In the eighth aspect, it is possible to display the first virtual image on the first image display unit by stopping the change in the angle of the first virtual image display surface.

In a ninth aspect subordinate to the eighth aspect,
After the first image display unit returns the displayable state of the first virtual image to the non-displayable state in order to stop the display of the first virtual image, the control unit The angle of the first virtual image display surface may be changed from the third angle to the second angle.

  In the ninth aspect, when the change of the angle of the first virtual image display surface is stopped and the display of the first virtual image on the first image display unit is executed, after the necessity of the display is eliminated, The change in the angle of the one virtual image display surface can be resumed.

  Those skilled in the art will readily understand that the illustrated embodiments according to the present invention can be further modified without departing from the spirit of the present invention.

It is a figure explaining the example of the 1st virtual image display surface which the head-up display of this invention produces | generates, and a 2nd virtual image display surface. It is a figure which shows the example of a mode that the real scene and the virtual image which the head-up display shown by FIG. 1 display are visually recognized when (a) faces the front of a vehicle from a driver's seat, (b) is the virtual image. It is explanatory drawing of a mode that a virtual image when a vehicle approaches an uphill is visually recognized in the modified example. It is a figure which shows the example of a structure of the head up display shown by FIG. It is a figure which shows the example by which the 1st image was displayed on the 1st screen shown by Fig.2 (a). It is a figure which shows the example of a structure of the control part shown by FIG. It is a flowchart explaining operation | movement of the head up display shown by FIG. FIG. 4 is a diagram for explaining an example of angles formed by the first and second virtual image display surfaces when the pitch angle of the vehicle is approximately parallel to the road surface by the head-up display shown in FIG. An example of a pitch angle is shown, (b) shows an example of an angle of a reflective part, and (c) is a figure showing arrangement of the 1st and 2nd virtual image display surfaces. It is a figure explaining the example of the angle which the 1st, 2nd virtual image display surface makes | forms when the pitch angle of a vehicle faces the upper side of the perpendicular direction with the head-up display shown by FIG. 3, (a) is a vehicle. FIG. 4B is a diagram illustrating an example of the angle of the reflection portion, FIG. 5B is a diagram illustrating an example of the angle of the reflection portion, and FIG. FIG. 4 is a diagram for explaining an example of angles formed by the first and second virtual image display surfaces when the pitch angle of the vehicle is directed downward in the vertical direction by the head-up display shown in FIG. An example of the pitch angle of a vehicle is shown, (b) shows an example of an angle of a reflective part, and (c) is a figure showing arrangement of the 1st and 2nd virtual image display surfaces. It is a figure explaining the example of a use area | region in case the pitch angle of a vehicle is substantially parallel to a road surface in the 1st display surface of the 1st image display part shown by Fig.2 (a). It is a figure explaining the example of a use area | region when the pitch angle of a vehicle faces the upper side of the perpendicular direction in the 1st display surface shown by Fig.2 (a). It is a figure explaining the example of a use area | region when the pitch angle of a vehicle faces the lower side of the perpendicular direction in the 1st display surface shown by Fig.2 (a). FIG. 4 is a diagram for explaining the arrangement of first and second virtual image display surfaces according to the posture of the vehicle in the head-up display of FIG. 3. When (a) faces the front of the vehicle from the driver's seat, it is a figure which shows the example of a mode that the real scene and the virtual image which the modification of the head-up display shown by FIG. 2 (a) display are visually recognized, (B) is a figure which shows the example of a mode that the virtual image for avoiding the display in the state where the virtual image was sunk in the uphill is visually recognized, (c) is a virtual image in case a virtual image is substantially parallel to an uphill It is a figure which shows the example of a mode that is visually recognized. The example showing the position of a virtual image display surface is shown, (a)-(c) is a figure explaining arrangement of the 1st and 2nd virtual image display surface according to the posture of vehicles in the conventional head up display, (D)-(e) is a figure explaining arrangement | positioning of the 1st virtual image display surface according to the position of the vehicle to the uphill in the conventional head-up display.

  The best mode described below is used to easily understand the present invention. Therefore, those skilled in the art should note that the present invention is not unduly limited by the embodiments (specific configurations and numerical values) described below.

  With reference to FIG. 1, the virtual first virtual image display surface 310 and the second virtual image display surface 320 generated by the head-up display (hereinafter referred to as HUD) 100 of the present invention will be described. In order to facilitate the following description, as shown in FIG. 1, in the real space, for example, the left-right direction facing the front of the vehicle 1 is defined as the X axis (the right direction is the X axis positive direction), and the vertical The direction is defined as the Y-axis (the upper side in the vertical direction is the positive Y-axis direction), and the front-rear direction is defined as the Z-axis (the rear direction is the positive Z-axis direction).

  The HUD 100 preferably displays the second virtual image display surface 320, but the HUD 100 does not need to execute the display of the second virtual image display surface 320, and therefore the second virtual image display surface. The configuration related to the display of 320 may not be provided. Further, the HUD 100 is replaced with a display of the second virtual image display surface 320, for example, a meter for displaying the vehicle speed, for example, a car navigation for displaying navigation, etc., and a second display surface (non-virtual image display surface, real image display surface). May be displayed. In this specification, the combination of the HUD 100 and a meter, car navigation, etc. is called a head-up display, but a head-up display that is this combination may be called a head-up display system or a display system by those skilled in the art. Good. Hereinafter, a typical HUD 100 that performs display on the second virtual image display surface 320 will be described.

  As shown in FIG. 1, the HUD 100 is housed in a dashboard 3 of a vehicle (one application example of a moving body) 1, for example. For example, the HUD 100 projects display light 200 (first display light 210 and second display light 220) indicating vehicle information and the like on a part of a front windshield (an example of a transmission / reflection part) 2 of the vehicle 1. The front windshield 2 generates a predetermined eye box (not shown) by reflecting the first display light 210 and the second display light 220 toward the viewer side. The viewer places the first viewpoint (position of the viewer's eyes) 4 in the eye box, so that the first virtual image display surface 310, which is virtually generated by the HUD 100, in front of the first windshield 2. The first virtual image 311 and the second virtual image 321 can be viewed on the second virtual image display surface 320.

  The first virtual image display surface 310 shown in FIG. 1 is visually recognized from the center of the first virtual image display surface 310, for example, when the line connecting the center of the first virtual image display surface 310 and the viewpoint 4 is the visual axis 4a. The angle 310a formed by the person-side display area and the visual axis 4a is an acute angle, and the first is visually recognized by being superimposed over a predetermined range of the road surface 5 (positions 5a to 5b in FIG. 1). A virtual image 311 is displayed. Specifically, for example, the first virtual image display surface 310 is parallel to the road surface 5 in FIG. 1 (the horizontal direction formed by the XZ plane), and 20 [ m] is provided so as to be overlapped over a position 5b separated from a position 5a separated by 50 [m]. The first virtual image display surface 310 may be provided with an inclination of about ± 5 degrees from an angle parallel to the road surface 5 in FIG.

  The second virtual image display surface 320 shown in FIG. 1 is, for example, the center of the second virtual image display surface 320 when the line connecting the center of the second virtual image display surface 320 and the viewpoint 4 is the line of sight axis 4b. Is provided so that an angle 320a formed between the display area on the lower side in the vertical direction and the visual axis 4b is larger than an angle 310a formed between the first virtual image display surface 310 and the visual axis 4a. indicate. Specifically, for example, the second virtual image display surface 320 is substantially parallel to a direction (XY plane) perpendicular to the traveling direction of the vehicle 1 in FIG. 1 and forward from the eyebox (the traveling direction of the vehicle 1). ) Of 5 [m] to 10 [m]. The second virtual image display surface 320 may be provided with an inclination of about ± 5 degrees from an angle parallel to a direction (XY plane) perpendicular to the traveling direction of the vehicle 1 in FIG.

  FIG. 2A is a diagram illustrating an example of a landscape, a first virtual image 311, and a second virtual image 321 that are visible to a viewer sitting in the driver's seat of the vehicle 1 including the HUD 100 illustrated in FIG. 1. The first virtual image display surface 310 adds information to the road surface 5 by, for example, visualizing the first virtual image 311 such as an arrow indicating the route of the vehicle 1 over the real scene (road surface 5). The second virtual image display surface 320 displays a second virtual image 321 that is not directly related to a real scene such as the vehicle speed of the vehicle 1 on the display surface.

  A vehicle attitude detection unit 6 that detects the attitude of the vehicle 1 is mounted on the vehicle 1 of FIG. The vehicle attitude detection unit 6 includes, for example, a three-axis acceleration sensor (not shown), and analyzes the three-axis acceleration detected by the three-axis acceleration sensor, whereby the pitch angle of the vehicle 1 with respect to the horizontal plane (vehicle (Posture) is estimated, and vehicle posture information G including information related to the pitch angle of the vehicle 1 is output to the HUD 100 (control unit 70). The vehicle posture detection unit 6 may be configured by a height sensor (not shown) disposed in the vicinity of the suspension of the vehicle 1 in addition to the above-described triaxial acceleration sensor. At this time, the vehicle posture detection unit 6 estimates the pitch angle of the vehicle 1 as described above by analyzing the height of the vehicle 1 from the ground detected by the height sensor, and information on the pitch angle of the vehicle 1. Is output to the HUD 100 (control unit 70). Further, the vehicle posture detection unit 6 may include an imaging camera (not shown) that images the outside of the vehicle 1 and an image analysis unit (not shown) that analyzes the captured image. At this time, the vehicle posture detection unit 6 estimates the pitch angle (vehicle posture) of the vehicle 1 from the time change of the landscape included in the captured image. Note that the method by which the vehicle attitude detection unit 6 determines the pitch angle of the vehicle 1 is not limited to the method described above, and the pitch angle of the vehicle 1 may be determined using a known sensor or analysis method.

  The vehicle 1 of FIG. 1 is also equipped with a road surface gradient detector 5-1 that detects the gradient of the road surface 5 ahead of the host vehicle (the future gradient of the traveling road surface). The road surface gradient detection unit 5-1 includes, for example, an imaging camera that images the outside of the vehicle 1 and an image analysis unit that analyzes the captured image. At this time, the road surface gradient detecting unit 5-1 estimates the gradient angle (road surface gradient) of the road surface 5 from the road surface information (for example, a road shape such as a white line) included in the captured image (for example, JP 2012-255703 A). reference). When the combination of the imaging camera and the image analysis unit constitutes not only the road surface gradient detection unit 5-1, but also the vehicle posture detection unit 6, the image analysis unit calculates the gradient angle of the road surface 5 and the pitch angle of the vehicle 1 from the captured image. presume. The road surface gradient detection unit 5-1 may include a vehicle-side communication unit such as a road-to-vehicle communication system and a vehicle-to-vehicle communication system in addition to the combination of the imaging camera and the image analysis unit described above, or a road surface gradient. It may be configured by a road information storage unit (3D map) that stores road surface information such as information and road surface height information. Note that the method by which the road surface gradient detection unit 5-1 obtains the gradient angle of the road surface 5 is not limited to the method described above, and a known sensor (for example, a vibration sensor such as an acceleration sensor or a gyro sensor) or an analysis method is used. Thus, the slope angle of the road surface 5 may be obtained.

  FIG. 2B shows a modified example of the first virtual image 311 in FIG. 2A, and the first virtual image 311 in FIG. 2B is an example of an arrow indicating the route of the vehicle 1. . As will be described later, when the vehicle 1 approaches, for example, an uphill (see FIG. 11E), the angle of the first virtual image display surface 310 of the first virtual image 311 is changed, and the viewer changes. The first virtual image 311 ′ on the first virtual image display surface 310 having a later angle can be recognized. In other words, when the vehicle 1 approaches, for example, an uphill, the HUD 100 performs display (appropriate display) of the first virtual image 311 ′ by avoiding display (inappropriate display) of the first virtual image 311. can do.

  FIG. 3 is a diagram showing an example of the configuration of the HUD 100 shown in FIG. The HUD 100 in FIG. 1 includes, for example, a first image display unit 10, a second image generation unit 20, a reflection unit 30, an actuator 40, a display synthesis unit 50, a concave mirror 60, and a control unit 70. The HUD 100 is generally housed in the dashboard of the vehicle 1, but the first image display unit 10, the second image generation unit 20, the reflection unit 30, the actuator 40, the display composition unit 50, and the concave mirror 60. And all or a part of the control unit 70 may be arranged outside the dashboard. The HUD 100 (control unit 70) is connected to a bus 7 including an in-vehicle LAN (Local Area Network) mounted on the vehicle 1, and part or all of vehicle information can be input from the bus 7.

  The first image display unit 10 in FIG. 3 receives, for example, a first projection unit 11 including a projector using a reflective display device such as DMD or LCoS, and projection light from the first projection unit 11. Thus, the first image 14 is displayed, and the first screen 12 that emits the first display light 210 indicating the first image 14 toward the reflection unit 30 is mainly configured. The first image display unit 10 displays the first image 14 on the first screen (first display surface) 12 based on the image data D input from the control unit 70 to be described later. The first virtual image 311 is displayed on the first virtual image display surface 310 virtually generated forward.

  FIG. 4 is a diagram of an example in which the first screen (first display surface) 12 shown in FIG. 3 is viewed along the line of sight axis 4 a from between the first screen 12 and the reflecting portion 30. In order to facilitate understanding of the following description, as shown in FIG. 4, the axis along the line-of-sight axis 4a is defined as the dz axis, and the left and right direction of the first screen 12 is the dx axis (the left direction is the dx axis). Positive direction), and the vertical direction of the first screen 12 is defined as the dy-axis (the downward direction is the dy-axis positive direction). The position in the X-axis direction of the first virtual image 311 that the viewer shown in FIG. 2A visually recognizes from the driver's seat of the vehicle 1 is displayed on the first screen 12 shown in FIG. This corresponds to the position of the image 14 in the dx-axis direction. Similarly, the position in the Y-axis direction of the first virtual image 311 viewed by the viewer shown in FIG. 2A from the driver's seat of the vehicle 1 is displayed on the first screen 12 shown in FIG. This corresponds to the position of the first image 14 in the dy-axis direction. It should be noted that the real space described above is determined by the arrangement of the optical members (first image display unit 10, second image generation unit 20, reflection unit 30, actuator 40, display synthesis unit 50, concave mirror 60) in the HUD 100, and the like. The relationship between the above XYZ coordinate axes and the dxdydz coordinate axes used in the description of the first screen 12 is not limited to the above.

  As shown in FIG. 4, the first screen 12 in FIG. 3 has a region 13 in which the first image 14 can be displayed. Of the first screen 12, an area 13 where the first image 14 can be displayed is referred to as a first use area 13, for example. The first virtual image display surface 310 corresponds to the first use area 13 of the first image display unit 10, and the first virtual image display surface 310 in the size and the real space of the first virtual image display surface 310. Can be adjusted according to the size of the first use area 13 on the first screen 12 and the position of the first use area 13 on the first screen 12. Note that the surface of the first screen 12 is, for example, a line connecting the center of the first use area 13 of the first screen 12 and the viewpoint 4 as the visual axis 4a. Arranged at an angle.

  The second image generation unit 20 in FIG. 3 is similar to the first image display unit 10 described above, for example, a second projection unit 21 including a projector using a reflective display device such as DMD or LCoS, and the like. The projection light from the second projection unit 21 is received to display the second image 24, and the second display light 220 indicating the second image 24 is emitted toward the display composition unit 50 described later. The second screen 22 is mainly composed. The first image display unit 10 displays the second image 24 on the second screen (second display surface) 22 based on the image data D input from the control unit 70 to be described later. A second virtual image 321 is displayed on the virtual image display surface 320. The second screen 22 has an area 23 in which the second image 24 can be displayed. Of the second screen 22, an area 23 in which the second image 24 can be displayed is referred to as a second use area 23, for example. The second virtual image display surface 320 corresponds to the second use area 23 of the second image generation unit 20, and the second virtual image display surface 320 in the size and the real space of the second virtual image display surface 320. Can be adjusted according to the size of the second use area 23 on the second screen 22 and the position of the second use area 23 on the second screen 22. The surface of the second screen 22 is a predetermined line with respect to the visual axis 4b, for example, when the line connecting the center of the second use area 23 of the second screen 22 and the viewpoint 4 is the visual axis 4b. Arranged at an angle.

  The reflection unit (relay optical system) 30 in FIG. 3 is formed of, for example, a flat plate mirror, and is inclined on the optical path of the first display light 210 from the first image display unit 10 toward the viewpoint 4, The first display light 210 emitted from the first image display unit 10 is reflected toward the display composition unit 50. The reflection unit 30 includes an actuator 40 that rotates the reflection unit 30. In addition, the reflection part 30 may have a curved surface instead of a plane.

  The actuator 40 is, for example, a stepping motor or a DC motor, and rotates the reflecting unit 30 based on vehicle attitude information G detected by a vehicle attitude detecting unit 6 described later under the control of a control unit 70 described later. Then, the angle and position of the first virtual image display surface 310 are adjusted.

  The display combining unit (relay optical system) 50 shown in FIG. 3 includes, for example, a flat half mirror in which a transflective layer such as a metal reflective film or a dielectric multilayer film is formed on one surface of a translucent substrate. Is done. The display combining unit 50 reflects the first display light 210 from the first image display unit 10 reflected by the reflection unit 30 toward the concave mirror 60, and the second display light from the second image generation unit 20. The display light 220 is transmitted to the concave mirror 60 side. The transmittance of the display combining unit 50 is, for example, 50%, but the luminance of the first virtual image 311 and the second virtual image 321 may be adjusted by adjusting as appropriate.

  For example, the concave mirror 60 in FIG. 3 is disposed on an optical path of the first display light 210 and the second display light 220 from the first image display unit 10 and the second image generation unit 20 toward the viewpoint 4. Then, the first display light 210 and the second display light 220 emitted from the first image display unit 10 and the second image generation unit 20 are reflected toward the front windshield 2. The first screen 12 of the first image display unit 10 and the second screen 22 of the second image generation unit 20 described above are arranged closer to the concave mirror 60 than the focal length of the concave mirror 60. More specifically, the first screen 12 and the second image generation unit 20 of the first image display unit 10 combine the optical characteristics of the concave mirror 60 and the front windshield (transmission reflection unit) 2. It is arranged closer to the concave mirror 60 than the focal length at the time. As a result, the first image 14 and the second image 24 displayed on the first screen 12 and the second screen 22 are displayed as the first virtual image 311 and the second virtual image 321. The optical path length of the first display light 210 from the first screen (first display surface) 12 of the first image display unit 10 to the concave mirror 60 described above is the same as that of the second image generation unit 20. The second screen (second display surface) 22 is arranged to be longer than the optical path length of the second display light 220 from the concave mirror 60, and thereby the first image generated by the first image display unit 10. The virtual image 311 is formed at a position farther from the eye box than the second virtual image 321 generated by the second image generation unit 20. The concave mirror 60 typically transmits the first display light 210 and the second display light 220 generated by the first image display unit 10 and the second image generation unit 20 with a front windshield (transmission reflection). Part) a function of enlarging in cooperation with 2, a function of correcting the distortion of the first virtual image 311 and the second virtual image 321 generated by the curved surface of the front windshield 2 and visually recognizing the virtual image without distortion, the first virtual image 311 has a function of forming the second virtual image 321 at a position away from the viewer by a predetermined distance.

  FIG. 5 shows a schematic configuration example of the control unit 70 of FIG. As illustrated in FIG. 5, the control unit 70 includes, for example, a processing unit 71, a storage unit 72, and an interface 73. The processing unit 71 is configured by, for example, a CPU and a RAM, the storage unit 72 is configured by, for example, a ROM, and the interface 73 is configured by an input / output communication interface connected to the bus 7. For example, the interface 73 can acquire vehicle information, vehicle posture information G, which will be described later, and the like via the bus 7, and the storage unit 72 is data for generating image data D based on the input vehicle information and the like. , And data for generating drive data T based on the input vehicle attitude information G can be stored, and the processing unit 71 reads the data from the storage unit 72 and executes a predetermined operation to generate an image. Data D and drive data T can be generated. Note that the interface 73 can acquire vehicle posture information G including information related to the posture of the vehicle 1 from the vehicle posture detection unit 6 via the bus 7, for example, and also has a function as a vehicle posture information acquisition unit. The control unit 70 may be provided inside the HUD 100, and a part or all of the functions may be provided on the vehicle 1 side outside the HUD 100.

  The processing unit 71 in FIG. 5 can acquire or input road surface gradient information S including information regarding the road surface gradient ahead of the vehicle 1 from the road surface gradient detection unit 5-1 via the interface 73 and the bus 7, for example. The interface 73 also has a function as road surface gradient information acquisition means. The interface 73 also has a function as vehicle posture information / road surface gradient information acquisition means (information acquisition means in a broad sense) for acquiring vehicle posture information G and road surface gradient information S.

  Preferably, the processing unit 71 uses the first virtual image 11 on the first virtual image display surface 310 when the vehicle 1 moves uphill, for example, on the road surface (uphill) based on the vehicle attitude information G and the road surface gradient information S. Whether or not an indented state has occurred, or a state in which the first virtual image 311 on the first virtual image display surface 310 is lifted on the road surface (downhill) when the vehicle 1 moves downhill, for example, occurs. It can be determined whether or not. More specifically, the processing unit 71 determines whether or not a difference between the slope angle of the road surface 5 and the pitch angle of the vehicle 1 has occurred, in other words, the first virtual image display surface 310 is substantially parallel to the road surface 5. It can be determined whether or not there is. The processing unit 71 can change the angle of the first virtual image display surface 310 of the first virtual image 311 in order to avoid inappropriate display of the first virtual image 311. The following description is based on the premise (principle) when the first virtual image display surface 310 is substantially parallel to the road surface 5, in other words, when the road surface gradient in front of the vehicle 1 does not change.

  FIG. 6 is a flowchart showing an example of the operation of the HUD 100 of the present embodiment. The HUD 100 is, for example, when the vehicle 1 is activated, when electric power is supplied to an electric termination device of the vehicle 1, or when a predetermined time has elapsed since the activation of the vehicle 1 or the electric power supply of the electronic device of the vehicle 1 The processing described below is started.

  In step SO <b> 1, the control unit 70 acquires vehicle posture information G including information related to the vehicle posture of the vehicle 1 from the vehicle posture detection unit 6.

  Preferably, in step SO1, the control unit 70 further acquires road surface gradient information S including information regarding the road surface gradient ahead of the vehicle 1 from the road surface gradient detection unit 5-1. When the first virtual image display surface 310 is substantially parallel to the road surface 5, the control unit 70 executes processing as described below.

  In step SO2, the control unit 70 determines drive data T including the drive amount of the actuator 40 corresponding to the vehicle attitude information G acquired in step SO1. Specifically, control unit 70 reads table data stored in advance in storage unit 72, and determines drive data T corresponding to vehicle attitude information G acquired in step SO1. In step SO2, the control unit 70 may obtain the drive data T from the vehicle attitude information G by calculation using a preset calculation formula.

  However, when the first virtual image display surface 310 is not substantially parallel to the road surface 5, in step SO2, the control unit 70 determines the drive amount of the actuator 40 based on the vehicle attitude information G and the road surface gradient information S acquired in step SO1. The drive data T to be included is determined. At this time, similarly, the control unit 70 may use table data stored in the storage unit 72 in advance, or may use a preset calculation formula.

  In step SO3, control unit 70 drives actuator 40 based on drive data T determined in step SO2. The control unit 70 drives the actuator 40 to rotate the reflecting unit 30 positioned on the optical path of the first display light 210 emitted from the first image display unit 10, thereby causing the second virtual image display surface 320 to be rotated. The relative angle 330 of the first image display unit 10 is changed. Specifically, for example, the control unit 70 controls the actuator 40 so that the first virtual image display surface 310 is parallel to the road surface 5 and rotates the reflecting unit 30 even when the vehicle posture of the vehicle 1 changes. You may let them.

  In addition, for example, when the vehicle 1 approaches an uphill, for example, the vehicle posture of the vehicle 1 does not change and the first virtual image display surface 310 is indented into the road surface 5 (uphill). Alternatively, the control unit 70 may control the actuator 40 and rotate the reflection unit 30 so that the first virtual image display surface 310 is parallel to the road surface 5 (uphill that is the road surface 5 ahead of the host vehicle). (See FIGS. 10B and 10C).

  7A, 7B, and 7C are diagrams illustrating how the angle 330 formed by the first virtual image display surface 310 and the second virtual image display surface 320 generated by the HUD 100 according to the present embodiment is changed. FIG. 7A, FIG. 7B, and FIG. 7C are views showing the pitch angle (vehicle posture) indicating how much the pitch angle of the vehicle 1 is inclined with respect to the road surface 5 made of the XZ plane. ) Is a diagram showing how the reflector 30 is rotated based on the vehicle attitude shown in (a), and (c) is the first one based on the vehicle attitude shown in (a). It is a figure which shows the angle 330 which the virtual image display surface 310 and the 2nd virtual image display surface 320 make.

  In addition, although illustration is abbreviate | omitted, when the present pitch angle of the vehicle 1 is zero (refer FIG.11 (e)) and the future pitch angle of the vehicle 1 (gradient angle of the road surface 5 ahead of the own vehicle) is not zero. For example, the second virtual image display surface 320 in (c) in FIG. 7C is changed to be substantially vertical, and the first virtual image display surface 310 is parallel to the road surface 5 (for example, the uphill which is the road surface 5 in front of the host vehicle). The angle 330 is adjusted so that

  FIG. 7A is a diagram illustrating an angle 330 formed by the first virtual image display surface 310 and the second virtual image display surface 320 when the vehicle 1 is in a vehicle posture 1 r parallel to the road surface 5. As shown in (a) of FIG. 7A, when the vehicle 1 is in the vehicle posture 1r parallel to the road surface 5, the reflecting unit 30 may, for example, drive data T determined in step SO2 shown in FIG. The angle 30r shown in (b) of FIG. 7A based on the above is adjusted, and the first virtual image display surface 310 is adjusted to be substantially parallel to the road surface 5 as shown in (c) of FIG. 7A, for example. The angle 330 formed by the first virtual image display surface 310 and the second virtual image display surface 320 is an angle 330r of approximately 90 degrees. Hereinafter, the vehicle posture 1r in which the vehicle 1 shown in (a) of FIG. 7A is parallel to the road surface 5 is also referred to as a reference vehicle posture 1r. Further, the angle 30r of the reflecting portion 30 shown in FIG. 7A (b) is also referred to as a reference angle 30r. In addition, an angle 330r formed by the first virtual image display surface 310 and the second virtual image display surface 320 as shown in (c) of FIG. 7A is hereinafter also referred to as a reference angle 330r.

  FIG. 7B is a diagram illustrating an angle 330 formed by the first virtual image display surface 310 and the second virtual image display surface 320 when the front of the vehicle 1 is tilted upward in the vertical direction. As shown in FIG. 7B (a), when the vehicle posture 1u is such that the front of the vehicle 1 is tilted upward in the vertical direction with respect to the reference vehicle posture 1r, the reflecting unit 30 is, for example, step SO2 shown in FIG. Based on the drive data T determined in step (b) in FIG. 7B, the angle 30u is rotated clockwise (CW direction) with respect to the reference angle 30r, and the first virtual image display surface 310 is For example, as shown in FIG. 7B (c), the angle 330 formed by the first virtual image display surface 310 and the second virtual image display surface 320 is adjusted to be substantially parallel to the road surface 5. The angle 330u is larger than the reference angle 330r.

  FIG. 7C is a diagram illustrating an angle 330 formed by the first virtual image display surface 310 and the second virtual image display surface 320 when the front of the vehicle 1 is tilted downward in the vertical direction. As shown in FIG. 7C (a), when the vehicle posture 1d is such that the front of the vehicle 1 is tilted downward in the vertical direction with respect to the reference vehicle posture 1r, the reflecting unit 30 is, for example, the step shown in FIG. Based on the drive data T determined in SO2, as shown in FIG. 7C (b), an angle 30d rotated counterclockwise (CCW direction) with respect to the reference angle 30r becomes the first virtual image display surface. 310 is adjusted so as to be substantially parallel to the road surface 5 as shown in FIG. 7C (c), for example, and an angle 330 formed by the first virtual image display surface 310 and the second virtual image display surface 320 is The angle 330d is smaller than the reference angle 330r.

  Here, referring to FIG. 7A (c), FIG. 7B (c), and FIG. 7C (c), the angle 330 formed by the first virtual image display surface 310 and the second virtual image display surface 320 is the vehicle of the vehicle 1. It changes according to the posture. As in the example shown in FIGS. 7A, 7B, and 7C, for example, the angle formed by the first virtual image display surface 310 and the second virtual image display surface 320 as the front of the vehicle 1 moves upward in the vertical direction. 330 becomes larger. On the other hand, for example, as the front of the vehicle 1 moves downward in the vertical direction, the angle 330 formed by the first virtual image display surface 310 and the second virtual image display surface 320 becomes smaller.

  As a result, since the angle 330 formed by the first virtual image display surface 310 and the second virtual image display surface 320 changes based on the vehicle posture of the vehicle 1, which of the virtual images to be viewed is the first virtual image display surface. 310 or the information displayed on the second virtual image display surface 320 can be recognized by the viewer, so the first virtual image display surface 310 and the first virtual image display surface 320 displayed on the first virtual image display surface 320 respectively. The virtual image 311 and the second virtual image 321 can be recognized more three-dimensionally.

  Further, in the HUD 100 of the present embodiment, the first virtual image display surface 310 is generated by being inclined in the horizontal direction from the second virtual image display surface 320, and the angle with respect to the actual scene is adjusted by driving the actuator 40. The angle adjustment with respect to the real scene of the virtual image display surface (first virtual image display surface 310) inclined in the horizontal direction is more effective than the angle adjustment with respect to the real scene of the virtual image display surface (first virtual image display surface 310) inclined in the vertical direction. The impression given to the viewer with respect to a certain angle change of the display surface is large. Therefore, the first virtual image 311 displayed on the first virtual image display surface 310 and the second virtual image display surface are adjusted by adjusting the angle of the virtual image display surface (first virtual image display surface 310) inclined in the horizontal direction. It becomes easy to distinguish the second virtual image 321 displayed on 320, and the first virtual image 311 and the second virtual image 321 displayed on the first virtual image display surface 310 and the second virtual image display surface 320, respectively. Can be recognized more three-dimensionally.

  The second virtual image display surface 320 is not an essential configuration. Further, the HUD 100 drives the actuator 40 based on the vehicle attitude information G (specifically, the current pitch angle of the vehicle 1) (see FIGS. 7A, 7B, and 7C). The actuator 40 can be driven based on the road surface gradient information S (specifically, the difference between the current pitch angle of the vehicle 1 and the future pitch angle of the vehicle 1 (the gradient angle of the road surface 5 ahead of the host vehicle)). it can. At least during the angle adjustment of the first virtual image display surface 310, in other words, until the angle adjustment of the first virtual image display surface 310 is completed, the first virtual image 311 is set from the displayable state to the non-displayable state. By doing so, inappropriate display of the first virtual image 311 can be avoided.

  Of course, even when the HUD 100 drives the actuator 40 based only on the current pitch angle of the vehicle 1, in other words, even when the angle of the first virtual image display surface 310 is changed, A configuration in which the virtual image 311 is not displayed can be employed. In other words, when the display of the first virtual image 311 is executed when the angle of the first virtual image display surface 310 is changed, the display of the first virtual image 311 moves. It is difficult for a viewer such as a person to recognize the moving first virtual image 311. Therefore, the HUD 100 can execute appropriate display by avoiding such inappropriate display.

  From this, the modification of embodiment of this invention is demonstrated. In the above description, the actuator 40 rotates the reflecting unit 30 positioned on the optical path of the first display light 210 up to the display combining unit 50 that directs the first display light 210 and the second display light 220 in the same direction. As a result, the angle 330 formed by the first virtual image display surface 310 and the second virtual image display surface 320 is changed, but the display combining unit 50 may be rotated by the actuator 40. Even in this case, it is possible to adjust only the angle of the first virtual image display surface 310 with respect to the real scene without adjusting the angle of the second virtual image display surface 320 as in the case of rotating the reflection unit 30 described above. it can.

  In addition, when the angle of the 1st virtual image display surface 310 with respect to a real scene is adjusted by rotating the reflection part 30 or the display synthetic | combination part 50, the 1st virtual image which the viewer shown to Fig.2 (a) sees from a driver's seat is shown. The relative position of the display surface 310 with respect to the actual scene in the vertical direction changes. 8A, 8 </ b> B, and 8 </ b> C, the vertical position of the first virtual image display surface 310 with respect to the real scene changes by rotating the reflecting unit 30 or the display combining unit 50 based on the posture change of the vehicle 1. It is a figure explaining operation | movement of the 1st image display part 10 of HUD100 corresponding to a problem, The position of the 1st use area | region 13 on the 1st screen 12, and the magnitude | size of the 1st use area | region 13 are changed. FIG. 9 shows a first virtual image display surface 310 (first virtual image display surface 310r, first virtual image display surface 310u, generated by the first image display unit 10 shown in FIGS. 8A, 8B, and 8C. It is the figure which showed the 1st virtual image display surface 310d).

  The control unit 70 controls the first image display unit 10 based on the pitch angle of the vehicle 1, so that the first use area 13 that can display the first image 14 on the first screen 12 is displayed. The position and size can be changed. The relationship between the pitch angle of the vehicle 1 and the position and size of the first use area 13 on the first screen 12 will be described below.

  FIG. 8A shows the first use area 13 on the first screen 12 when the pitch angle with respect to the road surface 5 of the vehicle 1 is substantially parallel. For example, when the vehicle posture information G acquired from the vehicle posture detection unit 6 indicates that the pitch angle with respect to the road surface 5 of the vehicle 1 is substantially parallel, the first image display unit 10 is displayed on the first screen 12. The position of the first use area 13 is determined as the first use area 13r shown in FIG. 8A. Hereinafter, the first use area 13r shown in FIG. 8A when the pitch angles with respect to the two road surfaces 5 are substantially parallel is also referred to as a first reference use area 13r. The HUD 100 generates the first virtual image display surface 310r shown in FIG. 9 corresponding to the first reference usage region 13r of the first image display unit 10.

  FIG. 8B shows the first use area 13 on the first screen 12 when the pitch angle of the vehicle 1 is directed upward in the vertical direction from the road surface 5. For example, when the vehicle attitude information G acquired from the vehicle attitude detection unit 6 indicates that the pitch angle of the vehicle 1 is directed upward in the vertical direction from the road surface 5, the first image display unit 10 The position of the first use area 13 on the screen 12 is determined as the first use area 13u shown in FIG. 8B.

  The first use area 13u shown in FIG. 8B is located on the dy-axis positive direction side as compared with the first reference use area 13r. Further, the length 131u in the Iy-axis direction in the first use area 13u shown in FIG. 8B is shorter than the length 13r in the Iy-axis direction in the first reference use area 13r. As a result, as shown in FIG. 9, the first virtual image area 310u corresponding to the first use area 13u is compared with the first reference virtual image display surface 310r corresponding to the first reference use area 13r. , Located in the vertical direction upper side in the real space (Y-axis positive direction) and the rear side in the traveling direction of the vehicle 1 (Z-axis positive direction), and the length in the traveling direction of the vehicle 1 in the real space is shortened. .

  That is, based on the vehicle attitude information G detected by the vehicle attitude detection unit 6, as the pitch angle of the vehicle 1 goes upward in the vertical direction, the position of the first use area 13 of the first screen 12 becomes the dy-axis positive direction. To be located on the side. Further, based on the vehicle attitude information G detected by the vehicle attitude detection unit 6, the length of the first use area 13 of the first screen 12 in the dy-axis direction as the pitch angle of the vehicle 1 goes upward in the vertical direction. Is determined to be shorter. As a result, as the pitch angle of the vehicle 1 goes upward in the vertical direction, the first virtual image display surface 310 is positioned on the upper side in the vertical direction in the real space, and the length in the vertical direction in the real space becomes shorter. .

  FIG. 8C shows the first use area 13 on the first screen 12 when the pitch angle of the vehicle 1 is directed to the lower side in the vertical direction than the road surface 5. For example, when the vehicle attitude information G acquired from the vehicle attitude detection unit 6 indicates that the pitch angle of the vehicle 1 is directed downward in the vertical direction with respect to the road surface 5, the first image display unit 10 The position of the first use area 13 on one screen 12 is determined as the first use area 13d shown in FIG. 8C.

  The first use area 13d shown in FIG. 8C is located on the dy-axis negative direction side as compared with the first reference use area 13r. Further, the length 131d in the Iy-axis direction in the first use area 13u shown in FIG. 8B is longer than the length 13r in the Iy-axis direction in the first reference use area 13r. As a result, as shown in FIG. 9, the first virtual image area 310d corresponding to the first use area 13d is compared with the first reference virtual image display surface 310r corresponding to the first reference use area 13r. , Located in the vertical direction lower side in the real space (Y-axis negative direction) and the front side of the vehicle 1 in the traveling direction (Z-axis negative direction), and the length in the traveling direction of the vehicle 1 in the real space becomes longer. .

  That is, based on the vehicle posture information G detected by the vehicle posture detection unit 6, as the pitch angle of the vehicle 1 moves downward in the vertical direction, the position of the first use area 13 of the first screen 12 becomes dy-axis negative. It is determined to be located on the direction side. Further, based on the vehicle posture information G detected by the vehicle posture detection unit 6, the length of the first use area 13 of the first screen 12 in the dy-axis direction as the pitch angle of the vehicle 1 goes downward in the vertical direction. Is determined to be long. As a result, as the pitch angle of the vehicle 1 goes down in the vertical direction, the first virtual image display surface 310 is positioned in the vertical direction lower side in the real space and in the traveling direction of the vehicle 1 in the real space. Length increases.

  As described above, the reflecting unit 30 is rotated in accordance with the change in the pitch angle (vehicle posture) of the vehicle 1, and the position of the first use area 13 of the first image display unit 10 and the length of the dy axis. By adjusting the height, the angle formed by the first virtual image display surface 310 and the road surface 5 is maintained before and after the change in the pitch angle (vehicle posture) of the vehicle 1, and the first virtual image display surface 310 is The positions 5a to 5b of the road surface 5 to be superimposed are kept constant. On the other hand, the angle and position of the second virtual image display surface 320 formed by the first virtual image display surface 310 and the road surface 5 change before and after the change of the pitch angle (vehicle posture) of the vehicle 1. Therefore, it becomes easy to distinguish the first virtual image 311 displayed on the first virtual image display surface 310 from the second virtual image 321 displayed on the second virtual image display surface 320, and the first virtual image display surface. 310, the first virtual image 311 and the second virtual image 321 displayed on the second virtual image display surface 320, respectively, can be recognized more three-dimensionally.

  The adjustment of the angle 330 formed by the first virtual image display surface 310 and the second virtual image display surface 320 is not triggered by the change in the vehicle posture of the vehicle 1 described above, but a predetermined signal is sent from the vehicle 1 side. It may be triggered by having input, inputting predetermined information from the outside of the vehicle 1, or switching display contents of the first virtual image display surface 310 and the second virtual image display surface 320. Specifically, for example, when an abnormality occurs in the vehicle 1 or a recommended route is input from the outside network, an angle 330 formed by the first virtual image display surface 310 and the second virtual image display surface 320 is set. By changing, it becomes easy to distinguish the first virtual image 311 displayed on the first virtual image display surface 310 and the second virtual image 321 displayed on the second virtual image display surface 320. The first virtual image 311 and the second virtual image 321 displayed on each of the virtual image display surface 310 and the second virtual image display surface 320 can be recognized in a three-dimensional manner, and information is more impressive to the viewer. It is possible to communicate.

  Further, the HUD 100 of the present invention rotates the display surface (first screen 12) of the first image display unit 10 with the actuator 40, so that the first virtual image display surface 310, the second virtual image display surface 320, The angle 330 formed by may be changed.

  In addition, the actuator 40 does not need to set the center of the display surface (first screen 12) of the reflection unit 30, the display synthesis unit 50, and the first image display unit 10 as the rotation axis AX. The position (including the end) may be used as the rotation axis AX. Further, the rotation axis AX may be provided at a position separated from each optical member.

  When adjusting at least the angle of the first virtual image 311, the HUD 100 sets the first virtual image 311 from the displayable state to the non-displayable state while, for example, the actuator 40 is driven to execute the adjustment. Can do. Typically, the HUD 100 includes vehicle attitude information G and road surface gradient information S (specifically, the current pitch angle of the vehicle 1 and the future pitch angle of the vehicle 1 (the gradient angle of the road surface 5 in front of the host vehicle)). The actuator 40 is driven on the basis of the difference. More specifically, for example, when the vehicle attitude information G and the road surface gradient information S indicate that the vehicle 1 is close to an uphill, for example (see FIG. 11E), the first image display unit 10 The position of the first use area 13 on the first screen 12 is determined as the first use area 13d shown in FIG. 8C. Similarly, for example, when the vehicle attitude information G and the road surface gradient information S indicate that the vehicle 1 is approaching, for example, a downhill, the first image display unit 10 displays the first use area on the first screen 12. The position of 13 is determined in the first use area 13u shown in FIG. 8B.

  FIG. 10A shows a real scene when the vehicle 1 is directed from the driver's seat, and a first virtual image 311 and a second virtual image 321 displayed by the modified example of the HUD 100 shown in FIG. It is a figure which shows the example of a mode that it is visually recognized. As shown in FIG. 10A, the HUD 100 of the present invention includes a first virtual image display surface 310 generated by the first image display unit 10 and a second virtual image generated by the second image generation unit 20. The display surface 320 may be viewed at a distance. Specifically, for example, the HUD 100 in this modified example includes an area on the display combining unit 50 where the first display light 210 is incident from the first image display unit 10 and a second display from the second image display unit 20. You may comprise by separating | separating the area | region on the display synthetic | combination part 50 in which the light 220 injects.

  In the above embodiment, the first image display unit 10 that generates the first virtual image display surface 310 and the second image generation unit 20 that generates the second virtual image display surface 320 are provided. The image display unit may be a single unit. The HUD 100 in this modified example projects projection light from a single projection unit (not shown) onto a plurality of screens (display surfaces) (not shown), and rotates one of the screens with an actuator. An angle 330 formed by one virtual image display surface 310 and the second virtual image display surface 320 may be adjusted.

  In the above embodiment, the angle 330 formed by the first virtual image display surface 310 and the second virtual image display surface 320 is adjusted by adjusting the angle of the first virtual image display surface 310 with respect to the actual scene. The first virtual image display surface 310 and the second virtual image display surface 320 and the second virtual image display surface 320 are adjusted to have different angles with respect to the actual scenes, and the angle adjustment amounts are made different, whereby the first virtual image display surface 310 and the second virtual image display are displayed. The angle 330 formed with the surface 320 may be adjusted.

  Further, the first image display unit 10 may be a transmissive display panel such as a liquid crystal display element, a self-luminous display panel such as an organic EL element, or a scanning display device that scans laser light. Good.

  In FIG. 10A, a first virtual image 311 is a sign indicating, for example, the approach of a preceding vehicle. The HUD 100 can display the first virtual image 311 that is such a sign (specifically, a warning sign) as needed in order to alert a viewer such as a driver, for example. In addition, the approach of obstacles, such as a front vehicle, can determine the process part 71 by the information from the imaging camera which images the exterior of the vehicle 1 as an example. In other words, if the first virtual image 311 is displayed as necessary and is a sign, and there is no forward vehicle, for example, the HUD 100 may not display the first virtual image 311.

  FIG. 10B is a diagram illustrating an example of a state in which the alternative virtual image 322 for avoiding the display in a state where the first virtual image 311 is recessed uphill, for example, is visually recognized, and FIG. FIG. 5 is a diagram illustrating an example of a state in which a display (preferably, a first virtual image 311 ′, a substitute virtual image 322, and related virtual images 312 and 323) when the first virtual image 311 is substantially parallel to the uphill is visually recognized. is there. The HUD 100 preferably drives the actuator 40 according to the difference between the slope angle of the road surface 5 and the pitch angle of the vehicle 1, so that when the difference is detected, the actuator 40 is driven.

  More preferably, the HUD 100 starts driving the actuator 40 after the difference exceeds a predetermined time. At this time, the HUD 100 may further determine whether or not the difference exceeds a threshold value, and the HUD 100 starts driving the actuator 40 after a difference equal to or greater than the threshold value has exceeded a predetermined time. Can do. Specifically, FIG. 10B shows that the difference between the slope angle of the road surface 5 and the pitch angle of the vehicle 1 is effective, and FIG. 10C shows the slope angle of the road surface 5 and the pitch of the vehicle 1. When the difference from the angle indicates that the difference is not effective, the HUD 100 sets the angle (first angle) of the first virtual image display surface 310 in FIG. 10B to the first virtual image display surface 310 in FIG. The angle is changed to the second angle.

  While the HUD 100 changes the angle of the first virtual image display surface 310 from the first angle to the second angle, the HUD 100 can erase the display of the first virtual image 311 in FIG. 10 (b)). At this time, the HUD 100 can execute, for example, the display of the alternative virtual image 322 in FIG. 10B as the display corresponding to the first virtual image 310. Preferably, a second image generation unit 20 having a second screen (second display surface) 22 corresponding to the second virtual image display surface 320 is provided in the HUD 100, and the second image generation unit 20 is The alternative virtual image 322 (preferably, the second virtual image 321) as shown in FIG. 10B is displayed from the second display surface. In FIG. 10B, the second display surface is a non-virtual image display surface, but the second display surface may be implemented as a real image display surface. In other words, the alternative virtual image 322 is an alternative real image. There may be.

  After the HUD 100 changes the angle of the first virtual image display surface 310 from the first angle to the second angle, by setting the first virtual image 311 from the displayable state to the non-displayable state, the HUD100 For example, the display of the first virtual image 311 ′ on the first virtual image display surface 310 having the changed angle can be executed (see FIG. 10C). At this time, preferably, the HUD 100 displays the relationship between the display of the first virtual image 311 ′ in FIG. 10C and the display of the alternative virtual image 322 in FIG. 10C (or FIG. 10B). Execute. In FIG. 10C, the HUD 100 displays, for example, a line connecting the first virtual image 311 ′ (for example, the apex or corner of the sign) and the alternative virtual image 322 (for example, the apex or corner of the sign) as a display indicating the relationship. For example, the related virtual image 312 on the first virtual image display surface 310 and the related virtual image 323 on the second virtual image display surface 320 can be displayed for a certain period of time.

  Of course, the HUD 100 may display only the related virtual image 312 or may display only the related virtual image 323. After the display of the related virtual images 312 and 323 is stopped or the display of the related virtual images 312 and 323 is stopped, the HUD 100 immediately stops the display of the alternative virtual image 322 and the first virtual image 311 ′, for example. The display may be performed immediately.

  For example, instead of the related virtual image 312 and the related virtual image 323, the HUD 100 gradually executes or recognizes the display of the first virtual image 311 ′ in FIG. ) Display of the alternative virtual image 322 can be gradually stopped. As an example, the opacity of the alternative virtual image 322 in FIG. 10C is gradually decreased from, for example, 100 [%] to, for example, 0 [%], and the opacity of the first virtual image 311 ′ in FIG. Can be gradually increased from 0 [%] to 100 [%], for example. In other words, after the HUD 100 changes the angle of the first virtual image display surface 310 from the first angle to the second angle, the HUD 100 gradually disables the display of the alternative virtual image 322 in FIG. In addition, the display of the first virtual image 311 ′ in FIG. 10C can be gradually activated. Therefore, the HUD 100 displays, for example, the position of the alternative virtual image 322 in FIG. 10C toward the position of the first virtual image 311 ′ in FIG. In order to move the position of the first virtual image 311 ′ instead of the related virtual image 312, in other words, from the position where the movement of the position of the first virtual image 311 ′ continues, FIG. The first virtual image 311 ′ can be moved to the position of the first virtual image 311 ′ of c). That is, the related virtual image 323 may be gradually switched to the first virtual image 311 ′ so that one virtual image is moving.

  In FIG. 10C, the HUD 100 continues to display the alternative virtual image 322, but after the HUD 100 changes the angle of the first virtual image display surface 310 from the first angle to the second angle, the HUD 100 May immediately stop displaying the alternative virtual image 322 and immediately display the first virtual image 311 ′. That is, only while the HUD 100 changes the angle of the first virtual image display surface 310 from the first angle to the second angle, the HUD 100 may display the alternative virtual image 322, and the HUD 100 displays the first virtual image display. After changing the angle of the surface 310 from the first angle to the second angle, the HUD 100 may display only the first virtual image 311 ′.

  Although not shown, when the HUD 100 changes the angle of the first virtual image display surface 310 from the first angle to the second angle, the HUD 100 changes the angle of the first virtual image display surface 310 to the first angle. It may be stopped at a third angle (intermediate angle) between the one angle and the second angle. For example, when the first virtual image 311 is displayed as necessary and is a sign, or when the second image generation unit 20 is not provided in the HUD 100, the HUD 100 is a first virtual image having a third angle. The first virtual image 311 on the display surface 310 can be displayed. Thereafter, for example, when the display of the first virtual image 311 is no longer necessary, or when the display of the first virtual image 311 is performed for a certain period of time, the HUD 100 erases the display of the first virtual image 311, The HUD 100 can restart the driving of the actuator 40 by changing the angle of the first virtual image display surface 310 from the third angle to the second angle.

  The present invention is not limited to the above-described exemplary embodiments, and those skilled in the art will be able to easily modify the above-described exemplary embodiments to the extent included in the claims. .

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 2 ... Front windshield (transmission reflection part), 3 ... Dashboard, 4 ... Viewpoint, 5 ... Road surface, 5-1 ... Road surface gradient detection part, 6・ ・ ・ Vehicle attitude detection unit, 7 ... Bus, 10 ... First image display unit, 20 ... Second image generation unit, 30 ... Reflection unit (relay optical system), 40. ..Actuator, 50... Display composition unit (relay optical system), 60... Concave mirror, 70... Control unit, 71. (Information acquisition means (for example, vehicle attitude information acquisition means, road surface gradient information acquisition means, vehicle attitude information / road surface gradient information acquisition means), 100... HUD (head-up display), 200... Display light, 210. First display light, 220 ... second display light, 310 ··· first virtual image display surface, 311, 311 ′ ··· first virtual image, 312 ··· related virtual image, 320 ··· second virtual image display surface, 321 ··· second virtual image, 322 · · · .. Alternative virtual image, 323... Related virtual image, 330... Angle, AX... Rotation axis, D... Image data, G.

Claims (9)

A head-up display mounted on a vehicle and capable of displaying a first virtual image on a virtual first virtual image display surface by projecting display light onto a transmission / reflection part,
A first image display unit that has a first display surface corresponding to the first virtual image display surface and emits first display light for displaying the first virtual image from the first display surface;
A relay optical system for directing the first display light emitted from the first image display unit to the transmission / reflection unit;
An actuator capable of rotating at least one of the first display surface and the relay optical system and adjusting an angle on a real space where the first virtual image display surface is generated;
A control unit for controlling the actuator,
While the control unit changes the angle of the first virtual image display surface from the first angle to the second angle, the first image display unit cannot display the first virtual image from a displayable state. Set to possible state,
A head-up display. The control unit drives the actuator based on information on a road surface gradient in front of the vehicle and information on a vehicle attitude of the vehicle.
The head-up display according to claim 1. The control unit drives the actuator according to a difference between a gradient angle corresponding to the road surface gradient and a pitch angle corresponding to the vehicle posture.
The head-up display according to claim 2. After the difference occurs over a predetermined time, the control unit starts driving the actuator.
The head-up display according to claim 3. A second image display unit;
When the first virtual image is set to the non-displayable state, the second image display unit can execute display corresponding to the first virtual image.
The head-up display according to claim 1, wherein the head-up display is provided. When the second image display unit executes the display corresponding to the first virtual image, the first image display is performed after the angle of the first virtual image display surface is changed to the second angle. The unit sets the display disabled state of the first virtual image to the display enabled state in order to display the first virtual image.
The head-up display according to claim 5. The first image display unit and / or the second image display unit are configured to display the first virtual image on the first image display unit and the first image display unit on the second image display unit. Performing a display showing relevance to the display corresponding to the virtual image;
The head-up display according to claim 6. When the control unit stops the angle of the first virtual image display surface at a third angle between the first angle and the second angle, the first image display unit In order to display one virtual image, the non-displayable state of the first virtual image is set to the displayable state.
The head-up display according to claim 1, wherein the head-up display is provided. After the first image display unit returns the displayable state of the first virtual image to the non-displayable state in order to stop the display of the first virtual image, the control unit Changing the angle of the first virtual image display surface from the third angle to the second angle;
The head-up display according to claim 8.

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