JP2016112984A - Virtual image display system for vehicle, and head up display - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow a user to recognize the information about a signal hidden by an obstacle.SOLUTION: A communication part 400 receives by radio a lamp color state of a signal which an own vehicle 2 is to pass by. An image analysis part 202 analyzes a real view image of the own vehicle 2 in advancing direction that is taken with a stereoscopic camera 201, to determine whether the signal is present in the real view image. A controller 500, in a case where the signal is not present in the real view image, allows a lamp color virtual image representing lamp color state of the signal to be displayed based on the lamp color state of the signal inputted from the communication part 400.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle virtual image display system and a head-up display that allow a user to visually recognize a virtual image by projecting display light indicating a display image onto a reflection / transmission surface present in the host vehicle.

  A vehicle virtual image display system that allows a user to visually recognize a virtual image uses a head-up display (HUD) and is disclosed in, for example, Patent Document 1. Such a HUD is identified by recognizing a specific object such as a traffic signal outside the vehicle with a camera outside the vehicle, specifying a display position that is visually recognized by being superimposed on the specific object, and projecting an image on the display position. A virtual image can be superimposed on a target object to be emphasized.

JP 2008-094377 A

  However, in HUD like patent document 1, when the big truck of the vehicle body is driving ahead of the own vehicle, since the camera outside the vehicle cannot recognize the traffic signal hidden in the truck, the signal outside the vehicle is emphasized. There was a possibility that the user could miss the traffic light because it could not be displayed.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a vehicle virtual image display system and a head-up display that allow a user to recognize information on a traffic signal hidden behind an obstacle. .

  In order to achieve the above object, a vehicle virtual image display system according to a first aspect of the present invention includes a communication unit that wirelessly receives a light color state of a traffic light that the host vehicle is scheduled to pass, and a light color state of the received traffic light. A virtual image display system for a vehicle comprising a head-up display that displays a virtual image indicating a forward situation of the host vehicle, a forward situation acquisition unit that acquires a forward situation of the host vehicle, and the acquired forward situation, A front situation analysis unit that determines whether the traffic signal is present at a position visible to the user in front of the vehicle, and when the traffic light is not present at a position visible to the user in front of the host vehicle, the light color state And a control means for displaying the virtual image.

  Further, the head-up display according to the second aspect of the invention is a control means for acquiring from the outside the light color information of the traffic light that the host vehicle is scheduled to pass through, and controlling so as to display a virtual image indicating the acquired light color state of the traffic light. When the control means receives a signal from outside that the traffic light does not exist at a position visible to the user in front of the host vehicle, the control means indicates the lamp color state. A virtual image is displayed.

  According to the vehicle virtual image display system and the head-up display in the present invention, it is possible to allow the user to recognize the information of the traffic signal hidden behind the obstacle.

It is a figure explaining the composition of the virtual image display system for vehicles in a first embodiment of the present invention. It is a figure explaining the scenery which the passenger | crew of the vehicle in the said embodiment visually recognizes. It is a flowchart for demonstrating operation | movement of the virtual image display system for vehicles in the said embodiment. It is a figure which shows the example of a display of HUD in 2nd embodiment of this invention. It is an overhead view of the lane used for description of the virtual image display system for vehicles of a third embodiment of the present invention. It is a figure explaining the relative positional relationship of the traffic signal used for description of the said embodiment, and the own vehicle. It is a figure which shows the example of a display of HUD in the said embodiment. It is a figure explaining the structure of the virtual image display system for vehicles in 5th embodiment of this invention. It is a figure which shows the example of a display of HUD in the modification of this invention.

(First embodiment)
FIG. 1 shows a system configuration of a vehicle virtual image display system 1 according to the present embodiment.
The vehicle virtual image display system 1 according to the present embodiment projects display light L representing the virtual image M onto the windshield (one embodiment of the reflection / transmission surface) 2a of the host vehicle 2, and the virtual image M is occupant ( A user) 3 a head-up display (hereinafter referred to as HUD) 100, a front information acquisition unit 200 that acquires and analyzes a real scene image ahead of the host vehicle 2, and a navigation system 300 that generates information for route guidance. A communication unit 400 capable of wireless communication with the outside, and a controller 500 that controls display of the HUD 100 based on information input from the front information acquisition unit 200, the navigation system 300, and the communication unit 400. .

  The virtual image display system 1 for a vehicle in the present embodiment can perform road-to-vehicle communication with the traffic signal information transmission unit 4 that is an infrastructure-side communication device installed on the road, using the communication unit 400. The vehicular virtual image display system 1 acquires lamp color information Is indicating the lamp color of the traffic signal 5 from the traffic signal information transmitting unit 4, and a lamp color virtual image M1 indicating the lamp color of the traffic signal 5 based on the acquired lamp color information Is. Can be displayed. In road-to-vehicle communication, radio beacon and optical beacon technologies such as narrow area communication (DSRC) are used.

(Optical configuration of HUD100)
The HUD 100 includes a display 10 that displays an image for displaying a lamp color virtual image M1 that indicates the lamp color of a traffic light 5 that will be described later, which is a feature of the present invention, and a flat mirror 20 that reflects image light K indicating the image. And a free-form surface mirror 30 that magnifies and deforms the image light K reflected by the plane mirror 20 and reflects the image light K as display light L toward the windshield 2a. The HUD 100 has a predetermined displayable area E on the windshield 2a, and can display a virtual image M in the displayable area E.

  The display 10 displays an image indicating the light color of the traffic light 5, a vehicle information image (not shown) indicating information related to the host vehicle 2, and the like on the display surface under the control of the controller 500 described later. A transmissive liquid crystal display composed of a display element such as a liquid crystal panel (not shown) and a light source (not shown) for illuminating the display element. The display 10 is not a transmissive liquid crystal display, but a self-luminous organic EL display, a reflective DMD (Digital Micromirror Device), a reflective and transmissive LCoS (registered trademark: Liquid Crystal on Silicon), or the like. It may be constituted by. The controller 500 to be described later can adjust the position of the virtual image M visually recognized by the occupant 3 by adjusting the display position of the image displayed on the display surface of the display 10.

  The plane mirror 20 reflects the image light K emitted from the display 10 toward the free-form curved mirror 30.

  The free-form surface mirror 30 is formed by forming a reflective film on the surface of a concave base material made of, for example, a synthetic resin material by means such as vapor deposition, and enlarges the image light K reflected by the flat mirror 20 and K is transformed and emitted as display light L in the direction of the windshield 2a.

  As shown in FIG. 2, the virtual image M viewed from the back side of the windshield 2a when viewed from the occupant 3 has a light color virtual image M1 indicating the light color of the traffic light 5 that the host vehicle 2 is scheduled to pass. The lamp-colored virtual image M1 is, for example, a circular red-framed red lamp virtual image M1r simulating a red traffic light, a circular yellow-frame yellow lamp virtual image M1y simulating a yellow traffic light, and a blue traffic light And a blue lamp virtual image M1b having a circular blue frame. The lamp color virtual image M1 is displayed such that either the red lamp virtual image M1r, the yellow lamp virtual image M1y, or the blue lamp virtual image M1b is lit based on lamp color information Is input from the communication unit 400 described later. FIG. 2 illustrates a state where the yellow lamp virtual image M1y is lit. The display process of the lamp color virtual image M1 will be described in detail later.

  The above is the optical configuration of the HUD 100 in the present embodiment. The HUD 100 causes the virtual image M to be visually recognized in a predetermined displayable region E of the windshield 2a by projecting the emitted display light L onto the windshield 2a of the host vehicle 2. Below, the electrical structure of the virtual image display system 1 for vehicles is demonstrated.

(Electrical configuration of vehicle virtual image display system 1)
The forward information acquisition unit 200 captures an actual scene in front of the host vehicle 2 and analyzes the actual scene image to extract the traffic lights 5 in the actual scene image. The front information acquisition unit 200 of the present embodiment includes a stereo camera (front situation acquisition unit) 201 that images the front side of the host vehicle 2 and an image analysis unit (front situation analysis) that analyzes imaging data acquired by the stereo camera 201. Part) 202.

The stereo camera (front situation acquisition unit) 201 images a front area including a lane in which the host vehicle 2 travels, and transmits a real scene image to the image analysis unit 202. The image analysis unit 202 (forward situation analysis unit) analyzes the acquired actual scene image using an image analysis method such as pattern matching, and extracts the traffic light 5 from the actual scene image. Further, the stereo camera 201 can acquire a color image, and the image analysis unit 202 can detect the light color of the traffic light 5 from the acquired color actual scene image. Furthermore, the image analysis unit 202 can calculate a distance to the traffic light 5 and an obstacle W (to be described later) by performing image analysis such as triangulation on a real scene image that is a stereo image captured by the stereo camera 201, for example. Is possible. In addition, since the position where the stereo camera 201 is installed is different from the position of the occupant 3's eyes, the occupant 3 may have difficulty in visual recognition even if the stereo camera 201 can capture images. Even if the traffic light 5 can be extracted from the actual scene image, the image analysis unit 202 determines whether or not the position of the extracted traffic light 5 is visible to the occupant 3.
That is, the front information acquisition unit 200 according to the present embodiment includes information indicating whether or not the traffic light 5 is present at a position where the occupant 3 is visible in front of the host vehicle 2, the lamp color information Is of the traffic light 5, and the traffic light 5. Is output to the controller 500 described later.
As an example of the “front situation acquisition unit” described in the present invention, the stereo camera 201 is described in the present embodiment. However, in addition to the stereo camera, a normal monocular camera or a monocular three-dimensional stereo camera that captures visible light is used. It may be used. Alternatively, a monochrome actual scene image may be acquired instead of color. Various sensors such as an infrared sensor, a millimeter wave radar, and a laser radar can be applied as the “forward situation acquisition unit” of the present invention.

  The navigation system 300 is provided in the host vehicle 2, stores map information including the position information of the traffic light 5, and stores map information in the vicinity of the current position based on the position information of the host vehicle 2 detected by a GPS controller (not shown). The position information of the traffic light 5 through which the host vehicle 2 will pass is generated and output to the controller 500 described later. Specifically, the position information of the traffic light 5 generated by the navigation system 300 is information including, for example, the distance from the host vehicle 2 to the traffic light 5 scheduled to pass. The controller 500 described later determines whether the host vehicle 2 is in a position where the host vehicle 2 can visually recognize the traffic signal 5 based on distance information from the host vehicle 2 to the traffic signal 5 input from the navigation system 300. The navigation system 300 includes position information acquisition means for acquiring the position of the host vehicle 2 described in the claims of the present invention, and map information storage means for storing map information including the position of the traffic light 5 on the road. The position of the traffic light 5 that the host vehicle 2 is scheduled to pass from the position of the host vehicle 2 acquired by the position information acquisition unit is read from the map information storage unit, and the distance between the host vehicle 2 and the traffic signal 5 is calculated. A distance calculation means is provided as a function.

  The communication unit 400 is provided in the host vehicle 2 and performs one-way or two-way wireless communication with the traffic signal information transmission unit 4 installed on the road. The traffic light information Is is obtained from the traffic signal information transmission unit 4. The lamp color information Is is acquired and transmitted to the controller 500.

The controller 500 is an ECU (Electrical Control Unit) including a CPU, ROM, RAM, graphic controller, and the like, and displays the HUD 100 based on information input from the front information acquisition unit 200, the navigation system 300, and the communication unit 400. Control. The controller 500 determines whether the host vehicle 2 is in a position where the traffic signal 5 can be visually recognized from the distance information between the host vehicle 2 and the traffic signal 5 acquired from the navigation system 300. Specifically, when the distance between the host vehicle 2 and the traffic signal 5 is within 100 m, the controller 500 determines that the host vehicle 2 is in a position where the traffic signal 5 can be visually recognized.
When the controller 500 determines that the host vehicle 2 is in a position where the traffic light 5 can be visually recognized, the controller 500 determines whether the traffic light 5 is present based on the determination as to whether or not the traffic light 5 is present in the actual scene image performed by the front information acquisition unit 200. It is determined whether or not the lamp color virtual image M1 indicating the color is displayed on the HUD 100. Specifically, when the front information acquisition unit 200 determines that the traffic light 5 does not exist in the actual scene image, the controller 500 causes the HUD 100 to display the lamp color virtual image M1. Thereby, even when the traffic light 5 is hidden by the obstacle W etc., the passenger | crew 3 can confirm the light color state of the traffic light 5 by visually recognizing the light color virtual image M1.
Below, operation | movement of the virtual image display system 1 for vehicles is demonstrated using the flowchart of FIG.

  The vehicle virtual image display system 1 is activated in accordance with an ON operation of an ignition switch (not shown) of the host vehicle 2. When activated, first, in step S10, the navigation system 300 acquires the current location of the host vehicle 2, and from the map information stored in the storage unit, the position information of the traffic signal 5 that the host vehicle 2 may pass is obtained. Obtain (step S20) and output to the controller 500.

  In step S30, the controller 500 determines whether the distance from the own vehicle 2 to the traffic light 5 included in the position information input from the navigation system 300 is within a predetermined distance (for example, 100 m). When the distance from the own vehicle 2 to the traffic light 5 is longer than 100 m (NO in step S30), the process returns to step S10 to acquire the current position of the own vehicle 2 again. On the other hand, when the distance from the own vehicle 2 to the traffic signal 5 is 100 m or less (YES in step S30), the front information acquisition unit 200 includes the traffic signal 5 in the actual scene image obtained by imaging the front side of the own vehicle 2. Is determined (step S40).

When the front information acquisition unit 200 determines that the traffic light 5 is present in the actual scene image (YES in step S40), the controller 500 hides the light virtual image M1 indicating the light color of the traffic light 5 and a warning virtual image M2 described later. (Step S50). For example, when the presence of the traffic light 5 is confirmed with a real scene image while the lamp color virtual image M1 is being displayed, the controller 500 hides the lamp color virtual image M1.
In this way, when the occupant 3 becomes able to visually recognize the traffic light 5 in the real scene, the lamp color virtual image M1 is not displayed, so that the information indicating the lamp color in the traffic light 5 and the lamp color virtual image M1 in the real scene is displayed. The duplication can be eliminated, and the passenger 3 can be alerted to the traffic light 5 in the actual scene.

On the other hand, when the front information acquisition unit 200 determines that the traffic light 5 does not exist in the actual scene image (NO in step S40), the controller 500 determines whether the lamp color information Is is input from the communication unit 400 (step S60). ).
When the controller 500 determines that the lamp color information Is is not input from the communication unit 400 (NO in step S60), the controller 500 controls the HUD 100 and warns that the traffic light 5 is close to the displayable area E A virtual image M2 is displayed. Specifically, the warning virtual image M2 is, for example, character information such as “There is a traffic light near. Please be careful” or a sign that informs the occupant 3 that the traffic light 5 is approaching. In this way, even if the lamp color information Is is not input and the lamp color virtual image M1 indicating the lamp color of the traffic light 5 cannot be displayed, the warning virtual image M2 notifies the passenger 3 of the approach of the traffic light 5, Can be encouraged.

  When the controller 500 determines that the lamp color information Is is input from the communication unit 400 (YES in step S60), the controller 500 controls the HUD 100 in step S80 to indicate the lamp color of the traffic light 5 in the displayable area E. The lamp color virtual image M1 is displayed. In addition, it is preferable that the position where the lamp-colored virtual image M1 is displayed is a position that does not overlap an obstacle W such as a truck positioned in front of the host vehicle 2. It is possible to suppress a decrease in the visibility of the lamp color virtual image M1 due to the display overlapping the obstacle W.

  As described above, the vehicle virtual image display system 1 according to this embodiment includes the communication unit 400 that wirelessly receives the light color state of the traffic light 5 that the host vehicle 2 is scheduled to pass through, and the received light color state of the traffic light. When a stereo camera 201 that acquires a real scene image obtained by capturing a real scene in the traveling direction of the host vehicle 2 and a traffic light 5 that acquires a light color state are not present in the real scene image, And a controller 500 that displays a lamp color virtual image M1 indicating the lamp color state. Even when the traffic light 5 cannot be directly visually recognized, the lamp color of the traffic signal 5 can be changed by visually checking the lamp color virtual image M1. The passenger 3 can be recognized.

  The present invention is not limited to the above-described embodiment. For example, the following embodiments are also included in the technical scope of the present invention. In addition to the following, various modifications can be made without departing from the scope of the present invention.

(Second embodiment)
In the vehicle virtual image display system 1 according to the second embodiment, the controller 500 changes the size of the lamp color virtual image M1 according to the distance information from the host vehicle 2 to the traffic light 5 input from the navigation system 300. Specifically, when the distance from the own vehicle 2 to the traffic light 5 is long, the controller 500 displays a small lamp color virtual image M1 as shown in FIG. 4A, and the distance from the own vehicle 2 to the traffic light 5 Is short, the lamp-colored virtual image M1 is displayed large as shown in FIG. Thereby, the passenger | crew 3 can estimate the distance from the own vehicle 2 to the traffic signal 5 which cannot be visually recognized with reference to the change of the magnitude | size of the lamp color virtual image M1. That is, when the lamp color virtual image M1 is displayed large, the occupant 3 can recognize that the traffic light 5 is close, and can promote safe driving near the intersection where the traffic light 5 is installed.

(Third embodiment)
A vehicle virtual image display system 1 according to a third embodiment will be described with reference to FIGS. FIG. 5 is an overhead view of the road showing how the relative position P of the host vehicle 2 with respect to the traffic light 5 changes. The position of the host vehicle 2 traveling on the left curve to the traffic signal 5 is expressed as Pa over time. , Pb, Pc. Further, the front direction of the traffic light 5 is indicated by Q. FIG. 6 is a diagram for explaining an angle θ between the relative position P (Pa, Pb, Pc) of the host vehicle 2 with respect to the traffic light 5 and the front direction Q of the traffic light 5. FIG. 7 is a diagram for explaining a change in the azimuth angle of the light-colored virtual image M1, and the light-colored virtual image M1 illustrated in FIGS. 7A, 7B, and 7C is a position Pa of the host vehicle 2. , Pb, and Pc.

  The navigation system 300 calculates an angle θ between the relative position P (Pa, Pb, Pc) of the host vehicle 2 with respect to the traffic light 5 and the front direction Q of the traffic light 5 and outputs the angle θ to the controller 500. As described above, the position P of the host vehicle 2 can be acquired by the GPS controller, and the front direction Q of the traffic light 5 is the same as the direction of the lane leading to the traffic light 5, so that the map information is It can be determined by reading.

  Based on the angle θ between the direction from the traffic signal 5 input from the navigation system 300 toward the position P of the host vehicle 2 and the front direction Q of the traffic signal 5, the controller 500, as shown in FIG. Rotate horizontally to display. The controller 500 rotates the lamp color virtual image M1 so that the front side is more visually recognized as the angle θ is smaller, and the side surface side of the lamp color virtual image M1 is more visually recognized as the angle θ (θa> θb) is larger. Rotate. In other words, the vehicular virtual image display system 1 in the third embodiment adjusts the horizontal angle at which the lamp-colored virtual image M1 is displayed corresponding to the position P of the host vehicle 2 with respect to the front direction Q of the traffic light 5. By changing the horizontal angle of the lamp-colored virtual image M1, the occupant 3 can estimate in which direction the traffic light 5 is located.

(Fourth embodiment)
The vehicle virtual image display system 1 according to the fourth embodiment does not display the lamp color virtual image M1 when the traffic light 5 is present in the real scene image captured by the front information acquisition unit 200 when the lamp color virtual image M1 is displayed. It is different from the above embodiment in that it is not made. When the HUD 100 is displaying the lamp color virtual image M1, the display of the lamp color virtual image M1 is continued even when the traffic light 5 becomes visible. When the lamp color virtual image M1 is not displayed, in order to confirm the lamp color of the same traffic light 5, the line of sight is directed to the displayable area E where the lamp color virtual image M1 is displayed. The line of sight must be directed to the traffic light 5 in the actual scene, and there is a possibility that the movement of the sight line of the occupant 3 may be complicated, but the lamp color of the traffic light 5 is confirmed by continuing to display the lamp color virtual image M1. Therefore, the line-of-sight movement of the occupant 3 can be reduced.

  Further, when the presence information of the traffic light 5 is confirmed in the actual scene image, the front information acquisition unit 200 extracts the light color information Is of the traffic signal 5 in the actual scene image and outputs it to the controller 500. Then, the controller 500 switches the lamp color of the lamp color virtual image M1 based on the lamp color information Is of the traffic light 5 in the actual scene image. Thus, by extracting the lamp color of the traffic light 5 from the real scene image and synchronizing the lamp color of the lamp color virtual image M1, the deviation between the lamp color of the traffic light 5 and the lamp color of the lamp color virtual image M1 in the actual scene is eliminated. In addition, it is possible to prevent the passenger 3 from feeling uncomfortable due to the deviation.

(Fifth embodiment)
In the fifth embodiment, the controller 500 may be provided in the HUD 100 as shown in FIG. The HUD 100 in the fifth embodiment is electrically connected to the outside (the front information acquisition unit 200, the navigation system 300, and the communication unit 400), and has an input I / F 500a for inputting a signal. The input I / F 500a acquires the light color information Is of the traffic light 5 that the host vehicle 2 is scheduled to pass from the communication unit 400, a signal related to the light color state of the traffic signal 5 captured by a real scene image, or the progress of the host vehicle 2. A signal indicating whether the traffic signal 5 is present in the actual scene image obtained by capturing the actual scene in the direction is acquired from the front information acquisition unit 200, or distance information between the host vehicle 2 and the traffic signal 5 is acquired from the navigation system 300. Or

  The HUD 100 in the fifth embodiment acquires the light color information Is of the traffic light 5 that the host vehicle 2 is scheduled to pass from the outside, and performs control so as to display the light color virtual image M1 indicating the light color state of the acquired traffic light 5. A controller 500, and when the controller 500 receives a signal indicating that the traffic light 5 does not exist at a position where the occupant 3 can visually recognize in front of the host vehicle 2 from the outside (the front information acquisition unit 200), A lamp-colored virtual image M1 is displayed.

(Other variations)
In the above embodiment, the lamp-colored virtual image M1 includes a circular red-framed red lamp virtual image M1r simulating a red traffic light, a circular yellow-framed yellow light virtual image M1y simulating a yellow traffic light, and a blue traffic light. However, the present invention is not limited to this, and it may be a single unit that imitates a lit signal lamp. And what imitated any two signal lights before and after that.

  Moreover, in the said embodiment, although the lamp color virtual image M1 was displayed on the position which does not overlap the obstruction W, the lamp color virtual image M1 was displayed on the position of the advancing direction of the own vehicle 2, as shown in FIG. The virtual image M1 may be displayed. When the lamp color virtual image M1 is displayed, by displaying the lamp color virtual image M1 in the traveling direction, the lamp color of the traffic light 5 can be confirmed while paying sufficient attention to the front area.

  Moreover, in the said embodiment, although the windshield 2a was mentioned as a reflective transmissive surface which reflects the display light L of HUD100 toward the passenger | crew 3, it is not limited to this, A dedicated combiner etc. may be used.

DESCRIPTION OF SYMBOLS 1 Virtual image display system for vehicles 2 Own vehicle 2a Windshield (reflection transmission surface)
3 Crew (User)
4 Signal Information Transmission Unit 5 Signal 10 Display 20 Flat mirror 30 Free-form curved mirror 100 Head-up display (HUD)
200 Front information acquisition unit 201 Stereo camera (front situation acquisition unit)
202 Image analysis unit (forward situation analysis unit)
300 navigation system 400 communication unit 500 controller (control means)
E Displayable area K Image light L Display light M Virtual image M1 Light color virtual image M2 Warning virtual image

Claims (14)

A vehicle virtual image display system comprising: a communication unit that wirelessly receives a light color state of a traffic light scheduled to pass by the host vehicle; and a head-up display that displays a virtual image indicating the received light color state of the traffic light. ,
A forward situation acquisition unit for obtaining a forward situation of the host vehicle;
Analyzing the acquired forward situation and determining whether the traffic light is present at a position visible to the user in front of the host vehicle; and
Control means for displaying the virtual image indicating the lamp color state when the traffic light is not present at a position visible to the user in front of the host vehicle,
The virtual image display system for vehicles characterized by the above-mentioned. Position information acquisition means for acquiring the position of the host vehicle, map information storage means for storing map information including the position of a traffic light on the road, and the position of the host vehicle acquired by the position information acquisition means A distance calculating means for reading out the position of the traffic signal scheduled to pass from the map information storage means, and calculating a distance between the host vehicle and the traffic light,
The control means controls the size of the virtual image based on the distance between the host vehicle and the traffic light calculated by the distance calculation means.
The vehicle virtual image display system according to claim 1. The control means, when the traffic light exists in the traveling direction of the host vehicle in the map information stored in the map information storage means, and the light color state of the traffic light is not detected from the communication unit, Display a warning virtual image,
The virtual image display system for vehicles according to claim 2 characterized by things. The control means extracts an obstacle that prevents a user from visually recognizing the traffic light from the front situation, and displays the virtual image at a position that does not overlap the obstacle.
The vehicle virtual image display system according to any one of claims 1 to 3. The control means maintains the display of the virtual image even when the presence of the traffic light is confirmed at a position visible to the user in the forward situation when displaying the virtual image.
The virtual image display system for a vehicle according to any one of claims 1 to 4. The control means compares the lamp color state acquired from the communication unit with the lamp color state of the traffic light that has been confirmed to exist in the forward situation, and makes the virtual image non-displayed if they are different.
The virtual image display system for vehicles according to any one of claims 1 to 5. The control means displays the virtual image rotated in the horizontal direction based on an angle between a direction from the traffic light toward the position of the host vehicle and a front direction of the traffic light.
The virtual image display system for vehicles according to claim 2 characterized by things. In a head-up display comprising: control means for acquiring the light color information of the traffic light that the host vehicle is scheduled to pass from the outside and controlling to display a virtual image indicating the acquired light color state of the traffic light;
The control means displays the virtual image indicating the lamp color state when receiving a signal from the outside that the traffic light does not exist at a position visible to the user in front of the host vehicle.
A head-up display. The control means inputs distance information between the host vehicle and the traffic signal from the outside, and controls the size of the virtual image based on the distance between the host vehicle and the traffic signal.
The head-up display according to claim 8. The control means receives a signal indicating that the traffic signal is present at a position visible to the user in front of the host vehicle from the outside, and the light color state of the traffic signal is not detected from the outside, Display a warning virtual image,
The head-up display according to claim 8 or 9, characterized by the above. The control means receives information related to an obstacle that prevents the user from visually recognizing the traffic light, and displays the virtual image at a position that does not overlap the obstacle.
The head-up display according to any one of claims 8 to 10. While the virtual image is being displayed, the control means maintains the display of the virtual image even when a signal confirming the presence of the traffic light is input from the outside at a position where the user can visually recognize the vehicle in front of the host vehicle. ,
The head-up display according to claim 8, wherein the head-up display is provided. The control means compares the lamp color state acquired from the outside with the lamp color state of the traffic light that has been confirmed to exist in the forward situation input from the outside, and hides the virtual image if they are different. ,
The head-up display according to any one of claims 8 to 12. The control means inputs an angle between the direction from the traffic light toward the position of the host vehicle and the front direction of the traffic light from the outside, and rotates the virtual image at least in the horizontal direction according to the inputted angle. Display,
The head-up display according to claim 8, wherein the head-up display is provided.

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