JP2020189627A - Display apparatus, display control method, and program - Google Patents

Abstract

To provide a display apparatus, a display control method, and a program which are able to improve visibility.SOLUTION: A display apparatus includes: a light projection device for projecting light including an image; an optical mechanism which is provided on a path of the light and can adjust a distance from a prescribed position to a position where the light is formed as a virtual image; a control device for controlling the light projection device; and a vanishing point estimation device for detecting a vanishing point of a travel lane of a vehicle. When a distance between a gazing point of an occupant of the vehicle and the vanishing point estimated by the vanishing point estimation device is less than a prescribed distance, the control device corrects a position of the formed image on the basis of an external environment of the vehicle. When the distance between the gazing point and the vanishing point is equal to or greater than the prescribed distance, the control device restrains the correction of the position of the image.SELECTED DRAWING: Figure 4

Description

The present invention relates to display devices, display control methods, and programs.

Conventionally, a head-up display device (hereinafter, referred to as a HUD (Head Up Display) device) that displays an image related to information for a driver on a front windshield is known (see, for example, Patent Document 1). By using this HUD device, various marks indicating obstacles, alerts, and the direction of travel are displayed at a predetermined position on the front windshield so as to overlap with the scenery in front of the vehicle, so that the driver can see the line of sight during driving. It is possible to grasp various displayed information while keeping the direction forward.

JP-A-2017-91115

However, in the conventional HUD device, the display position of the image is corrected based on the external environment of the vehicle, but the visibility of the image may be lowered by the correction of the position depending on the traveling situation.

The present invention has been made in consideration of such circumstances, and one of the objects of the present invention is to provide a display device, a display control method, and a program capable of improving visibility.

The display device, display method, and program according to the present invention have adopted the following configurations.
(1): The display device according to one aspect of the present invention includes a light projecting device that projects light including an image and a position provided on the path of the light from a predetermined position to a position where the light is formed as a virtual image. The control device includes an optical mechanism capable of adjusting the distance of the vehicle, a control device for controlling the floodlight device, and a disappearance point estimation device for detecting a disappearance point in the traveling lane of the vehicle. When the distance between the gazing point and the vanishing point estimated by the vanishing point estimation device is less than a predetermined distance, the position of the image formed based on the external environment of the vehicle is corrected to obtain the gazing point. This is a display device that suppresses correction of the position of the image when the distance from the vanishing point is equal to or greater than a predetermined distance.

(2): In the aspect of (1) above, the control device suppresses correction of the position of the image when the vehicle is in a turning state.

(3): In the aspect of (1) or (2) above, the control device suppresses correction of the position of the image when the speed of the vehicle is equal to or lower than a predetermined speed.

(4): In any one of the above (1) to (3), the control device suppresses correction of the position of the image when the road on which the vehicle travels is congested. is there.

(5): In any one of the above (1) to (4), the control device changes the degree of correction of the position of the image based on the external environment of the vehicle.

(6): In any one of the above (1) to (5), the control device receives the case where the end portion of the image is in contact with the upper end portion or the lower end portion of the displayable area of the image. It suppresses the correction of the position of the image.

(7): The display control method according to one aspect of the present invention includes a light projecting device that projects light including an image and a position provided on the path of the light and the light is formed as a virtual image from a predetermined position. A display device including an optical mechanism capable of adjusting the distance to the vehicle, a control device for controlling the floodlight device, and a vanishing point estimation device for detecting a vanishing point in the traveling lane of the vehicle is a note of the occupant of the vehicle. When the distance between the viewpoint and the vanishing point estimated by the vanishing point estimation device is less than a predetermined distance, the position of the image formed based on the external environment of the vehicle is corrected, and the gazing point and the gazing point are corrected. This is a display control method that suppresses correction of the position of the image when the distance from the vanishing point is equal to or greater than a predetermined distance.

(8): In the program according to one aspect of the present invention, a light projecting device for projecting light including an image is provided on the path of the light, and from a predetermined position to a position where the light is formed as a virtual image. A display device including an optical mechanism capable of adjusting the distance, a control device for controlling the floodlight device, and a vanishing point estimation device for detecting a vanishing point in the traveling lane of the vehicle is provided with a gazing point of the occupant of the vehicle. When the distance from the vanishing point estimated by the vanishing point estimation device is less than a predetermined distance, the position of the image formed based on the external environment of the vehicle is corrected, and the gazing point and the vanishing point are corrected. This is a program that suppresses correction of the position of the image when the distance to and from is greater than or equal to a predetermined distance.

According to the aspects (1) to (8), the visibility can be improved.

It is a figure exemplifying the configuration of the interior of the vehicle M on which the display device 100 according to the embodiment is mounted. It is a figure for demonstrating the operation switch 130 of embodiment. It is a partial block diagram of the display device 100. It is a figure which shows the configuration example of the display device 100 centering on a display control device 150. It is a figure which shows an example of the virtual image VI superimposed on the landscape. It is a figure for demonstrating the process of the position correction control unit 152a. It is a figure for demonstrating the fluctuation of the depression angle θ by the external environment of the vehicle M. It is a figure which shows the calculation example of the fluctuation width W in the vertical direction. It is a figure for demonstrating the state when a vehicle turns. 9 is a diagram for explaining the distance between the vanishing point VP and the gazing point NP in the turning state of the vehicle M in FIG. It is a figure for demonstrating the correction suppression control at the display position of a virtual image VI. It is a figure for demonstrating the relationship between a pitch angle and a correction gain. It is a flowchart which shows the flow of the process executed by the display device 100 of embodiment.

Hereinafter, embodiments of the display device, display control method, and program of the present invention will be described with reference to the drawings. The display device of the embodiment is, for example, a device mounted on a vehicle (hereinafter referred to as a vehicle M) and superposed on a landscape to visually recognize an image. The display device can be referred to as a HUD device. As an example, the display device is a device that allows the viewer to visually recognize a virtual image by projecting light including an image onto the front windshield of the vehicle M. The spectator is, for example, a driver, but may be an occupant other than the driver. Further, a transparent member (visor, lens of spectacles, etc.) of a device worn by a person may be illuminated or a light-transmitting display device may be attached. In the following description, it is assumed that the display device is a device mounted on the vehicle M and projecting light including an image onto the front windshield.

In the following description, the positional relationship and the like will be described as appropriate using the XYZ coordinate system.
Further, in the following description, the "virtual image" may be referred to as an "image".

[overall structure]
FIG. 1 is a diagram illustrating the configuration of the interior of the vehicle M on which the display device 100 according to the embodiment is mounted. The vehicle M is provided with, for example, a steering wheel 10 that controls the steering of the vehicle M, a front windshield (an example of a reflector) 20 that separates the outside of the vehicle from the inside of the vehicle, and an instrument panel 30. The front windshield 20 is a member having light transmission. The display device 100 projects (projects) light including an image onto a displayable area A1 provided in a part of the front windshield 20 in front of the driver's seat 40, so that the driver is seated in the driver's seat. Make the virtual image VI visible.

The display device 100 makes the driver visually recognize, for example, an image of information for supporting the driver's driving as a virtual image VI. The information for assisting the driver's driving includes, for example, information such as the speed of the vehicle M, the driving force distribution ratio, the engine speed, the operating state of the driving support function, the shift position, the sign recognition result, and the intersection position. Is done. The driving support functions include, for example, a direction instruction function for guiding the vehicle M to a preset destination, ACC (Adaptive Cruise Control), LKAS (Lane Keep Assist System), CMBS (Collision Mitigation Brake System), and Includes traffic jam assist function, etc. Further, the driving support function may include, for example, a telephone function for controlling incoming / outgoing telephone calls and telephone calls mounted on the vehicle M.

Further, in addition to the display device 100, the vehicle M may be provided with a first display unit 50-1 and a second display unit 50-2. The first display unit 50-1 is, for example, a display device provided near the front of the driver's seat 40 on the instrument panel 30 and visible to the driver through the gap of the steering wheel 10 or through the steering wheel 10. The first display unit 50-1 displays, for example, information for assisting the driver's driving. The second display unit 50-2 is attached to, for example, the central portion of the instrument panel 30. The second display unit 50-2 displays, for example, an image corresponding to the navigation process executed by the navigation device (not shown) mounted on the vehicle M, an image of the other party in a videophone, or the like. In addition, the second display unit 50-2 may display a TV program, play a DVD, or display contents such as a downloaded movie. Further, the first display unit 50-1 and the second display unit 50-2 may accept operations from the occupant as a touch panel device. The received operation content is output to the display device 100 and other in-vehicle devices.

Further, the vehicle M is provided with an operation switch (an example of an operation unit) 130 that receives an instruction to switch the display on / off by the display device 100 and an instruction to adjust the position of the virtual image VI. The operation switch 130 is attached, for example, to a position where the driver seated in the driver's seat 40 can operate the switch 130 without significantly changing his / her posture. The operation switch 130 may be provided, for example, in front of the first display unit 50-1, or may be provided on the boss portion of the steering wheel 10, and connects the steering wheel 10 and the instrument panel 30. It may be provided on the spokes.

FIG. 2 is a diagram for explaining the operation switch 130 of the embodiment. The operation switch 130 includes, for example, a main switch 132 and adjustment switches 134 and 136. The main switch 132 is a switch for switching on / off of the display device 100.

The adjustment switch 134 moves, for example, the position of the virtual image VI, which is visually recognized as being in a space transmitted through the displayable range A1 from the driver's line-of-sight position P1, upward (hereinafter, referred to as upward) with respect to the vertical direction Z. It is a switch for receiving an instruction (adjustment operation) to be made. By holding down the adjustment switch 134, the driver can continuously move the visual position of the virtual image VI upward within the displayable range A1.

The adjustment switch 136 is a switch for receiving an instruction (adjustment operation) for moving the position of the above-mentioned virtual image VI downward (hereinafter, referred to as a downward direction) with respect to the vertical direction Z. By holding down the adjustment switch 136, the driver can continuously move the visual position of the virtual image VI downward within the displayable range A1.

Further, the adjustment switch 134 may be a switch for increasing the brightness of the visible virtual image VI instead of (or in addition) moving the position of the virtual image VI upward. Further, the adjustment switch 136 may be a switch for lowering the brightness of the visually recognized virtual image VI instead of (or in addition) moving the position of the virtual image VI downward. The content of the instruction received by the adjustment switches 134 and 136 may be switched based on some operation. The operation is, for example, a long press operation of the main switch 132. Further, in addition to the switches shown in FIG. 2, the operation switch 130 may include, for example, a switch for selecting display contents and a switch for adjusting the brightness of the virtual image to be exclusively displayed.

FIG. 3 is a partial configuration diagram of the display device 100. The display device 100 includes, for example, a display 110 and a display control device 150. An example of the "control device" is a combination of the display control device 150, the optical system controller 170 described later, and the display controller 172 described later. The display 110 houses, for example, the light projecting device 120, the optical mechanism 122, the plane mirror 124, the concave mirror 126, and the translucent cover 128 in the housing 115. In addition to these, the display device 100 includes various sensors, actuators, and the like, which will be described later. Further, the display 110 may not have the optical mechanism 122.

The floodlight device 120 has a two-dimensional projection surface and projects light including an image. The floodlight device 120 includes, for example, a light source 120A and a display element 120B. The light source 120A is, for example, a cold cathode tube, and outputs visible light corresponding to the virtual image VI to be visually recognized by the driver. The display element 120B controls the transmission of visible light from the light source 120A. Hereinafter, visible light transmitted through the display element 120B and including an image is referred to as image light IL. The display element 120B is, for example, a thin film transistor (TFT) type liquid crystal display (LCD) including a two-dimensional projection surface. The display element 120B may be an organic EL (Electro-Luminescence) display, and in this case, the light source 120A may be omitted.

The optical mechanism 122 includes, for example, one or more lenses. The position of each lens can be adjusted, for example, in the direction of the optical axis. The optical mechanism 122 is provided, for example, on the path of the image light IL output by the light projecting device 120, passes through the image light IL incident from the light projecting device 120, and emits light toward the front windshield 20. The optical mechanism 122, for example, changes the position of the lens to change the distance from the driver's line-of-sight position P1 (an example of a predetermined position) to the formation position P2 in which the image light IL is formed as a virtual image (hereinafter, virtual image). The viewing distance (referred to as D) can be adjusted. The driver's line-of-sight position P1 is a position where the image light IL is reflected by the concave mirror 126 and the front windshield 20 and is condensed, and is a position where the driver's eyes are assumed to be present at this position. Strictly speaking, the imaginary image viewing distance D is the distance of a line segment having an inclination in the vertical direction. However, when the imaginary image viewing distance D is expressed as "7 [m]" or the like in the following description, the distance is in the horizontal direction. It may mean a distance.

Further, in the following description, the depression angle θ is defined as the angle formed by the horizontal plane passing through the driver's line-of-sight position P1 and the line segment from the driver's line-of-sight position P1 to the formation position P2. The lower the virtual image VI is formed, that is, the downward the line-of-sight direction in which the driver sees the virtual image VI, the larger the depression angle θ. The depression angle θ is determined based on the reflection angle φ of the concave mirror 126 and the display position of the original image on the display element 120B. The reflection angle φ is an angle formed by the incident direction in which the image light IL reflected by the plane mirror 124 is incident on the concave mirror 126 and the exit direction in which the concave mirror 126 emits the image light IL.

The plane mirror 124 reflects visible light (that is, image light IL) emitted by the light source 120A and passed through the display element 120B in the direction of the concave mirror 126.

The concave mirror 126 reflects the image light IL incident from the plane mirror 124 and emits it toward the front windshield 20. The concave mirror 126 is rotatably supported around the Y axis, which is the width axis of the vehicle M.

The translucent cover 128 transmits the image light IL from the concave mirror 126 to reach the front windshield 20, and also suppresses foreign matter such as dust, dirt, and water droplets from entering the housing 115. The translucent cover 128 is provided in the opening formed in the upper member of the housing 115. Further, the instrument panel 30 is also provided with an opening or a light transmitting member, and the image light IL transmits the light transmitting cover 128 and the opening or the light transmitting member of the instrument panel 30 to the front windshield 20. To reach.

The image light IL incident on the front windshield 20 is reflected by the front windshield 20 and focused on the driver's line-of-sight position P1. At this time, when the driver's eyes are located at the driver's line-of-sight position P1, the driver feels that the image projected by the image light IL is displayed in front of the vehicle M.

The display control device 150 controls the display of the virtual image VI to be visually recognized by the driver. FIG. 4 is a diagram showing a configuration example of the display device 100 centered on the display control device 150. In the example of FIG. 4, in addition to the display control device 150, the position sensor 162 included in the display device 100, the concave mirror angle sensor 164, the environment sensor 166, the vanishing point estimation device 168, the gazing point estimation device 169, and the like. An operation switch 130, an optical system controller 170, a display controller 172, a lens actuator (an example of an optical mechanism actuator) 180, a concave mirror actuator 182, a floodlight device 120, a driving support control device 200, and a vehicle behavior acquisition device. It shows 300.

The position sensor 162 detects the position of one or more lenses included in the optical mechanism 122. Further, the position sensor 162 may detect the position of the display element 120B. The concave mirror angle sensor 164 detects the rotation angle of the concave mirror 126 around the Y axis.

The environment sensor 166 includes, for example, an object recognition sensor 166a. The object recognition sensor 166a uses, for example, a camera mounted on the vehicle M, a radar device, a finder (for example, LIDAR (Light Detection and Ranging)), or an object existing in the vicinity of the vehicle M (for example, another vehicle, a pedestrian). Obstacles such as) are detected. The camera is, for example, a digital camera using a solid-state image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera is attached to any part of the vehicle M. When photographing the front, the camera is attached to the upper part of the front windshield 20, the back surface of the rearview mirror, or the like. The camera periodically and repeatedly images the periphery of the vehicle M, for example. The camera may be a stereo camera. The radar device radiates radio waves such as millimeter waves around the vehicle M, and detects radio waves (reflected waves) reflected by the object to at least detect the position (distance and orientation) of the object. The radar device is attached to any part of the vehicle M. The radar device may detect the position and velocity of the object by the FM-CW (Frequency Modulated Continuous Wave) method. The finder irradiates the periphery of the vehicle M with light and measures the scattered light. The finder detects the distance to the target based on the time from light emission to light reception. The light to be irradiated is, for example, a pulsed laser beam. The finder is attached to any part of the vehicle M. The object recognition sensor 166a performs sensor fusion processing on the detection result of a part or all of the camera, the radar device, and the finder, and recognizes the position, type, speed, and the like of the object. The object recognition sensor 166a outputs the recognition result and the detection result of the camera, the radar device, and the finder to the display control device 150.

Further, the environment sensor 166 may include, for example, a temperature sensor that detects the temperature of the floodlight device 120 and the optical mechanism 122, and an illuminance sensor that detects the illuminance around the vehicle M. In addition, the environmental sensor 166 requires inspection of the vehicle's braking system and engine system, the headlights are set to high beam, the door is not locked, and the door is not completely closed. , A sensor that detects that the fog lamp is lit, that an incoming call has occurred in the telephone function installed in the vehicle M, that it is approaching the timing to turn left or right to reach the destination set in the navigation device, etc. It may be included.

The vanishing point estimation device 168 analyzes, for example, an image captured in front of the vehicle M taken by a camera mounted on the vehicle M, and positions (coordinates) on the image of the vanishing point of the road on which the vehicle M travels. To estimate. The vanishing point is the point at infinity.

The gaze-viewing estimation device 169 analyzes, for example, an interior image captured by a vehicle interior camera that captures a facial image of an occupant (including a driver) in the vehicle interior mounted on the vehicle M, and analyzes the driver's face. Estimate the direction of the line of sight from the image. Specifically, the gazing point estimation device 169 detects the positional relationship between the driver's head and eyes, the combination of the reference point and the moving point in the eyes, and the like from the vehicle interior by using a technique such as template matching. Then, the gazing point estimation device 169 derives the orientation of the face based on the position of the eyes with respect to the head. Further, the gazing point estimation device 169 derives the direction of the line of sight based on the position of the moving point with respect to the reference point. For example, if the reference point is the inner corner of the eye, the moving point is the iris. When the reference point is the corneal reflex region, the moving point is the pupil. Further, the gaze point estimation device 169 estimates the position (coordinates) associated with the derived driver's line of sight direction as the gaze point in the image captured by the camera used in the vanishing point estimation device 168. When the traveling lane of the vehicle M is a straight line, the gazing point exists in the area near the vanishing point. The area near the vanishing point is an area within a predetermined distance from the vanishing point.

The optical system controller 170 drives the lens actuator 180 based on the control signal output by the drive control unit 153 to adjust the virtual image viewing distance D. Further, the optical system controller 170 drives the concave mirror actuator 182 based on the control signal output by the drive control unit 153 to adjust the rotation angle of the concave mirror.

The display controller 172 controls the floodlight device 120 to output an image generated by the image generation unit 151 and based on the display mode determined by the display mode control unit 152. The image may include, for example, an image (hereinafter referred to as a first image) related to information for assisting the driver's driving, which is constantly displayed, or when a predetermined event such as an emergency or a predetermined function occurs. The image to be (hereinafter referred to as a second image) is included. The predetermined event is, for example, an event caused by the state of the vehicle M. The event includes an event corresponding to various functions by the driving support control device 200 and an event (inspection instruction or warning) generated by the information detected by the environment sensor 166. The second image is, for example, an image related to a lane departure warning, an image notifying that the vehicle M is approaching the vehicle in front, an image showing that the collision mitigation brake has been activated, and other warning images. .. The second image may be displayed by interrupting the first image, or may be displayed together with the first image.

Further, the display controller 172 adjusts the projection position of the light projected from the floodlight device 120 on the projection surface based on the control signal output by the display mode control unit 152. Since the adjustment of the projection position on the projection surface is performed by software control, it is faster than the drive control by the hardware that drives the motor or the like. As a result, the depression angle θ can be adjusted at a higher speed than adjusting the depression angle θ by driving the concave mirror actuator 182 to change the reflection angle φ of the concave mirror 126. By adjusting the depression angle θ, the display position of the virtual image VI with respect to the displayable area A1 can be moved up and down.

The lens actuator 180 acquires a drive signal from the optical system controller 170, and based on the acquired drive signal, drives a motor or the like to move the position of one or more lenses included in the optical mechanism 122. Further, the lens actuator 180 may physically move the position of the display element 120B along the image light IL. As a result, the virtual image viewing distance D is adjusted. For example, the lens actuator 180 increases the virtual image viewing distance D within a range not exceeding the maximum virtual image viewing distance as the speed of the vehicle M increases, and increases the virtual image viewing distance D within a range not exceeding the minimum virtual image viewing distance as the speed of the vehicle M decreases. Shorten the viewing distance D.

The concave mirror actuator 182 acquires a drive signal from the optical system controller 170, and based on the acquired drive signal, drives a motor or the like to rotate the concave mirror actuator 182 around the Y axis to reduce the reflection angle φ of the concave mirror 126. Adjust. As a result, the depression angle θ is adjusted.

In the embodiment, the transmission mode of visible light in the floodlight device 120 (for example, the display position of the original image in the display element 120B) and the rotation angle of the concave mirror 126 determine how the virtual image IV is visually recognized by the driver. .. For example, when at least one of the visible light transmission mode of the light projecting device 120 and the rotation angle of the concave mirror 126 changes, the depression angle θ of the virtual image VI changes.

The driving support control device 200 executes a driving support function that supports a driving operation by the driver of the vehicle M. When the driving support function is executed, for example, the vehicle M is one of steering control or speed control without the operation of the driving controller (for example, steering wheel 10, accelerator pedal, brake pedal) by the driver. Or control both. For example, when the driving support control device 200 executes ACC as a driving support function, the driving support control device 200 and the vehicle M are based on information input via the environment sensor 166 and the object recognition sensor 166a mounted on the vehicle M. Acceleration / deceleration control (speed control) is performed based on the distance between the vehicle and the vehicle in front so that the vehicle travels while keeping the distance between the vehicle and the vehicle in front. Further, as a driving support function, the driving support control device 200 performs steering control so that the vehicle M travels while maintaining the currently traveling lane (lane keeping) when executing LKAS. Further, as a driving support function, the driving support control device 200 performs deceleration control or stop control of the vehicle M when the distance between the vehicle M and the vehicle in front becomes less than a predetermined distance when executing the CMBS. I do. Further, the driving support control device 200 outputs, for example, the state of the driving support function to the display control device 150. Further, the driving support control device 200 outputs information (warning information) for warning the driver before executing LKAS or CMBS to the display control device 150. The warning information includes, for example, a lane departure warning, a preceding vehicle approach warning, and the like. When the various functions described above are executed by the driving support control device 200, an event corresponding to each function occurs.

The vehicle behavior acquisition device 300 acquires the behavior of the vehicle M being driven by the driver. The vehicle behavior acquisition device 300 includes, for example, a vehicle speed acquisition unit 310, a turning state determination unit 320, and a rough road determination unit 330. The vehicle speed acquisition unit 310 detects the speed or acceleration of the vehicle M. The turning state determination unit 320 detects, for example, the angular velocity around the vertical axis of the vehicle M and the steering angle of the vehicle M by using a yaw rate sensor. Then, the turning state determination unit 320 determines that the vehicle M is in a turning state when the detected angular velocity is equal to or higher than the first threshold value or the steering angle is equal to or higher than the second threshold value, and the angular velocity is less than the first threshold value and the steering angle is lower than the first threshold value. If it is less than the second threshold value, it is determined that the vehicle M is not in the turning state.

The rough road determination unit 330 includes, for example, a pitch angle sensor that detects the pitch angle around the Y axis of the vehicle M and a height sensor (vehicle height sensor) that detects the height of the vehicle M and the inclination of the vehicle body. The height sensors are installed on the front, rear, left and right wheels of the vehicle M, for example. Then, the rough road determination unit 330 determines whether or not the road surface condition of the traveling lane of the vehicle M is a rough road based on the detection results of the detected pitch angle sensor and height sensor. A rough road is, for example, a slope having an inclination angle of a predetermined angle or more when the vehicle shakes by a predetermined amount or more due to a step or unevenness on the road. For example, the rough road determination unit 330 when the amount of change in the pitch angle by the pitch angle sensor is equal to or greater than the third threshold value, or when the amount of change in the height of the vehicle M detected by the height sensor is equal to or greater than the fourth threshold value. In addition, it is determined that the road (lane) on which the vehicle M is traveling is a bad road. Further, the rough road determination unit 330 determines that the road is not a rough road when the amount of change in the pitch angle is less than the third threshold value and the amount of change in the height of the vehicle M is less than the fourth threshold value. Further, the rough road determination unit 330 determines that the road is bad when the number of times the pitch angle or the height of the vehicle M is increased or decreased in a predetermined time is equal to or more than the predetermined number of times, and when it is less than the predetermined number of times, the road is not bad. May be determined.

[Display control device]
Next, the display control device 150 will be described. The display control device 150 includes, for example, an image generation unit 151, a display mode control unit 152, a drive control unit 153, and a storage unit 154. Each component except the storage unit 154 is realized by executing a program (software) by a hardware processor such as a CPU (Central Processing Unit). In addition, some or all of these components are hardware (circuits) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), etc. It may be realized by the part (including circuitry), or it may be realized by the cooperation of software and hardware. The program may be stored in advance in a storage unit 154 such as an HDD or a flash memory of the display control device 150, or is stored in a removable storage medium such as a DVD or a CD-ROM, and the storage medium is a drive device. It may be installed in the storage unit 154 of the display control device 150 by being attached to the display control device 150.

The display control device 150 executes the respective functions of the image generation unit 151, the display mode control unit 152, and the drive control unit 153, for example, when the operation switch 130 (main switch 132) receives a signal to be turned on. When a signal to enable and turn off is received, each of the above-mentioned functions is stopped.

The image generation unit 151 generates a first image that is superimposed on the landscape and visually recognized by the driver when the display device 100 is in the ON state. Further, the image generation unit 151 generates a second image in place of (or in addition to) the first image, for example, when the condition for interrupting the second image into the image to be superimposed on the landscape is satisfied. For the output of the first image and the second image to be displayed, the driver uses an operation switch 130 or another operation unit, a GUI (Graphical User Interface) switch displayed on the second display unit 50-2, or the like. May be set. The setting information set by the driver is stored in the storage unit 154 or the like. Further, the image generation unit 151 generates one or a plurality of images based on the occurrence of an event that outputs the warning information, for example, when the warning information is output by the driving support control device 200. The image includes, for example, content, an icon that identifies the content, a mark, a road sign, and the like.

The display mode control unit 152 sets the display mode of the image generated by the image generation unit 151, and generates control information for displaying the image in the set display mode. The display mode is the presence / absence of display of a virtual image VI (first image, second image) superimposed on the landscape and visually recognized by the driver, the position (depression angle θ) of the image when displayed, the size, the brightness, and the virtual image. This is the amount of control of the viewing distance D that is adjusted according to the display position. Further, the display mode control unit 152 changes the display mode of the virtual image VI based on the lens position detected by the position sensor 162 and the rotation angle of the concave mirror 126 detected by the concave mirror angle sensor 164. The display mode control unit 152 outputs the generated control information to, for example, the display controller 172 or the drive control unit 153.

Further, the display mode control unit 152 includes, for example, a position correction control unit 152a and a suppression control unit 152b. The position correction control unit 152a is based on the information detected by the environmental sensor 166 and the information acquired by the vehicle behavior acquisition device 300 (for example, vehicle speed, turning state determination result, rough road determination result), and is based on the vehicle M. The external environment is acquired, and when the acquired external environment satisfies a predetermined condition, control information for correcting the display position of the virtual image VI is generated, and the generated control information is output to the display controller 172. The external environment includes, for example, the behavior and posture of the vehicle M, the surrounding environment such as traffic congestion, and the like. Further, even if the position correction control unit 152a generates control information for adjusting the projection position of the light projected from the light projecting device 120 on the projection surface so as to cancel the fluctuation of the depression angle θ caused by the behavior of the vehicle M. Good. The suppression control unit 152b suppresses the correction control in the position correction control unit 152a when a predetermined condition is satisfied. The details of the function of the display mode control unit 152 will be described later.

The drive control unit 153 includes a control signal for moving the position of one or more lenses included in the optical mechanism 122 or the position of the display element 120B, or a concave mirror, based on the control information output by the display mode control unit 152. A control signal for adjusting the rotation angle of 126 is generated, and the generated control signal is output to the optical system controller 170. Further, the drive control unit 153 is instructed by the display mode control unit 152 based on the lens position detected by the position sensor 162, the position of the display element 120B, and the rotation angle of the concave mirror 126 detected by the concave mirror angle sensor 164. A control signal is generated so that the virtual image VI can be visually recognized at the position (depression angle θ, virtual image viewing distance D), and the generated control signal is output to the optical system controller 170.

The storage unit 154 is realized by, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), a flash memory, or the like. For example, setting information and other information are stored in the storage unit 154.

Next, an example of an image superimposed on the landscape by the display device 100 and visible to the driver as a virtual image VI will be described. FIG. 5 is a diagram showing an example of a virtual image VI superimposed on a landscape. The example of FIG. 5 shows an example of a virtual image VI superimposed on a landscape, which is visually recognized in the displayable area A1 of the front windshield 20 by the display device 100. In the example of FIG. 5, the vehicle M is assumed to travel on the lane L1. Further, it is assumed that the lane L2 is connected to the lane L1.

In the example of FIG. 5, a virtual image VI showing the speed of the vehicle M, which is an example of the first image, is shown. In addition, in the virtual image VI, a plurality of information by the first image or the second image may be displayed instead of (or in addition to) the speed of the vehicle M. In the example of FIG. 5, the display mode control unit 152 generates an image showing the speed of the vehicle M as an image according to the vehicle state after the display device 100 is activated (on state), and projects the generated image. Output from the device 120. Here, since the vehicle M travels along the extending direction of the lane L1 (X direction in the figure), as a result, the vehicle M is located near the vanishing point VP estimated by the vanishing point estimation device 168. A virtual image VI indicating the velocity is superimposed. Generally, when the vehicle M is traveling along the extending direction of the lane L1, the driver is on the lane L1 in front of the vehicle M at the time of driving, and the gazing point NP is located near the vanishing point VP. Since the vehicle is placed, the visibility of the virtual image VI can be improved by displaying the virtual image VI in the vicinity of the vanishing point VP of the traveling lane L1. The display position of the virtual image VI in the displayable area A1 can be set by the driver using, for example, the adjustment switches 134 and 136 of the operation switch 130.

Further, the position correction control unit 152a corrects the position of the virtual image VI based on the external environment of the vehicle M acquired by the environment sensor 166 and the vehicle behavior acquisition device 300. FIG. 6 is a diagram for explaining the processing of the position correction control unit 152a. In the example of FIG. 6, the correction area CA1 in the upward direction and the correction area CA2 in the downward direction are shown with respect to the display position of the virtual image VI set by the setting information. The displayable area A1 is a range that can be changed by the setting by the driver, the vehicle speed, or the like. For example, the position correction control unit 152a moves the display position of the virtual image VI upward from the set position within the range of the displayable area A1 as the speed of the vehicle M obtained by the vehicle speed acquisition unit 310 increases. This is because the higher the speed, the farther the driver's gaze point is located in front of him. Further, the position correction control unit 152a moves the vehicle M downward so as to return the display position of the virtual image VI to the reference position when returning from the high speed state to the low speed state. The correction of the position of the virtual image VI at this time is executed, for example, by adjusting the reflection angle φ of the concave mirror 126 by the concave mirror actuator 182.

Further, the position correction control unit 152a may perform vibration correction for suppressing the fluctuation of the depression angle θ (more specifically, the vibration of the virtual image VI) due to the external environment of the vehicle M. .. FIG. 7 is a diagram for explaining the fluctuation of the depression angle θ due to the external environment of the vehicle M. In FIG. 7, it is assumed that the vehicle M is traveling on the road L1 at a constant speed, and that the road L1 has a step ST. Further, it is assumed that the vehicle M at the times T1 and T2 (T1 <T2) is indicated by M (T1) and M (T2), and the depression angle θ is indicated by θ (T1) and θ (T2), respectively. Further, the left and right front wheels of the vehicle M are Wfl and Wfr, and the left and right rear wheels are Wrl and Wrr.

At time T1, the vehicle M (T1) is traveling along the horizontal direction (X direction in the figure). In this case, based on the setting information, the display device 100 displays the virtual image VI at a position separated from the driver's line-of-sight position P1 by the virtual image viewing distance D and at a position where the depression angle θ (T1). To do.

Here, at the time T2, in the vehicle M (T2), the left and right front wheels Wfl and Wfr are present in the lower stage of the step ST, and the left and right rear wheels Wrl and Wrr are located in the upper stage of the step, so that the vehicle M (T2) is present. ) Is tilted forward. In this case, the position of the virtual image VI is such that the virtual image viewing distance D is constant and the depression angle is the angle at which the vehicle M (T2) is tilted forward by the display device 100 to the depression angle θ (T1) (for example, the pitch angle with respect to the vehicle M). It is the position of the depression angle θ (T2) to which the approximated angle) is added (θ (T1) <θ (T2)). In such a case, the virtual image VI seen by the driver swings downward, which may reduce visibility. This phenomenon also occurs when the vehicle M is traveling downhill. Therefore, the position correction control unit 152a corrects the position so that the depression angle θ (T1) becomes constant when the surrounding environment of the vehicle M changes as described above.

Specifically, the position correction control unit 152a calculates the fluctuation width in the vertical direction when the depression angle θ (T1) is changed to θ (T2) so that the calculated fluctuation width approximates zero (0). Adjust the depression angle. FIG. 8 is a diagram showing a calculation example of the fluctuation width W in the vertical direction. The posture of the driver and the position of the eyes differ due to the posture of the vehicle M at times T1 and T2 and the vibration caused by passing through the step ST, but the amount of change is extremely small compared to the virtual image viewing distance D. It will be explained as not being considered. Therefore, the fluctuation width W obtained from the following calculation is an approximate value of the actual fluctuation width.

In the example of FIG. 8, the position correction control unit 152a calculates the distance (vertical height) h1 from the horizontal plane to the center position of the virtual image VI at the depression angle θ (T1). The distance h1 is calculated by, for example, h1 = Dsinθ (T1). Further, the position correction control unit 152a calculates the distance h2 from the horizontal plane at the depression angle θ (T2) to the center position of the virtual image VI. The distance h2 is calculated by, for example, h2 = Dsinθ (T2). The depression angle θ (T2) may be derived based on, for example, the pitch angle detected by the pitch angle sensor included in the environment sensor 166 and the depression angle θ1 determined by the display mode control unit 152, and the front wheel Wfl may be derived. , Wfr, rear wheels Wrl, and Wrr may be derived based on the values detected by the height sensors provided. Then, the position correction control unit 152a calculates the fluctuation width W based on the difference (h2-h1) between the distances h2 and h1.

Further, in the position correction control unit 152a, instead of the calculation method described above, the fluctuation width W is associated with the difference value between the depression angle θ (T1) and the depression angle θ (T2) or the difference value between the distances h2 and h1 in advance. The obtained lookup table (LUT) is stored in the storage unit 154, and when the depression angles θ (T1) and θ (T2) and the distances h1 and h2 are acquired, the LUT is referred to from the difference value to correspond. The attached fluctuation width W may be acquired.

The position correction control unit 152a performs correction control of the depression angle θ within a range not exceeding the correction region CA1 in the upward direction so that the acquired fluctuation width W is canceled out to zero (0). In the correction control of the depression angle θ, when the concave mirror actuator 182 is used for correction, the response is delayed due to the influence of the driving time of the motor, etc., so the timing of the change in the behavior of the vehicle M and the correction control of the depression angle θ There is a possibility that the virtual image VI swings up and down in the direction opposite to the swing direction of the vehicle M due to a time lag with the timing of. Therefore, the position correction control unit 152a corrects the depression angle θ by adjusting the projection position of the light projected from the light projecting device 120 on the projection surface by the display control by the highly responsive display controller 172. Specifically, the position correction control unit 152a controls the display controller 172 to move the position of the virtual image VI upward by the fluctuation width W. Further, the position correction control unit 152a also performs downward shaking correction in the same manner as the upward shaking correction described above. As a result, the position correction control unit 152a can suppress fluctuations in the depression angle caused by fluctuations in the behavior of the vehicle M. Further, the above-mentioned position correction control can be realized by the image display control by the display element 120B, and therefore has high responsiveness, and can be performed more quickly than adjusting the reflection angle φ of the concave mirror 126 by the concave mirror actuator 182. Therefore, it is possible to perform runout correction at a more appropriate timing in response to a change in the behavior of the vehicle M.

The position correction control unit 152a may determine whether or not the fluctuation width W is equal to or greater than the threshold value, and if the fluctuation width W is equal to or greater than the threshold value, perform the correction control of the depression angle θ described above.

In the correction control by the position correction control unit 152a described above, the suppression control unit 152b suppresses the execution of the correction control when a predetermined condition is satisfied. For example, the suppression control unit 152b suppresses the execution of correction control by the position correction control unit 152a when the gazing point of the occupant of the vehicle M deviates from the vanishing point of the traveling lane of the vehicle M as a predetermined condition. When the gazing point deviates from the vanishing point, for example, the two-dimensional distance between the gazing point and the vanishing point on the front image of the vehicle M captured by the camera becomes a predetermined distance or more. Suppressing the execution of the correction control means, for example, not correcting the position of the virtual image VI or reducing the degree of the position correction. As a result, it is possible to prevent the driver from feeling uncomfortable due to the virtual image VI displayed in the area not being watched moving based on the external environment and behavior of the vehicle M.

Here, the behavior of the vehicle M in which the distance between the gazing point and the vanishing point is equal to or greater than a predetermined distance includes, for example, a case where the vehicle M is turning left or right or a case where the vehicle M is traveling on a curved road. Therefore, the suppression control unit 152b may suppress the correction of the position of the virtual image VI by the position correction control unit 152a when the behavior of the vehicle M is determined by the turning state determination unit 320 to be in the turning state. FIG. 9 is a diagram for explaining a state when the vehicle is turning. In the example of FIG. 9, the vehicle M starts turning right from the lane L1 to the lane L2, and the vehicle M is in a turning state by the vehicle behavior acquisition device 300. It shows the state at the time when it was judged to be. In the turning state of the vehicle M shown in FIG. 9, the driver gazes at the vicinity of the right turn destination lane L2, not near the vanishing point VP. FIG. 10 is a diagram for explaining the distance between the vanishing point VP and the gazing point NP in the turning state of the vehicle M of FIG. In the right turn scene shown in FIG. 9, it is assumed that the driver's gaze point NP is on the lane L2 at the right turn destination, and the distance DP between the vanishing point VP and the gaze point NP is equal to or greater than a predetermined distance. In this case, the suppression control unit 152b suppresses the correction of the position of the virtual image VI by the position correction control unit 152a.

Further, the suppression control unit 152b may suppress the position correction by the position correction control unit 152a when the speed of the vehicle M obtained by the vehicle speed acquisition unit 310 is equal to or less than a predetermined speed. The predetermined speed is, for example, about 10 [km / h]. That is, when the vehicle M is stopped or traveling at a low speed, it is estimated that the driver's gaze point is placed, for example, in the second display unit 50-2 in the vehicle interior or in another direction, or in a forward position near the vehicle. Therefore, the distance between the gazing point and the vanishing point is greater than or equal to a predetermined distance. Therefore, the suppression control unit 152b suppresses the correction control of the display position of the virtual image VI when the vehicle M starts or the vehicle M travels at a low speed, so that the display position is adjusted to the slow change of the posture of the vehicle M. By suppressing the movement of the virtual image VI, the driver can visually recognize the virtual image VI without any discomfort. Further, since it is less important for the driver to visually recognize the virtual image VI when the vehicle is stopped or when the vehicle is stopped at a low speed, suppressing the position correction when the vehicle is traveling at a low speed or when the vehicle is stopped has little effect. Further, by suppressing the correction of the position of the virtual image VI when stopped or traveling at a low speed, the processing load of the position correction can be reduced.

Here, the behavior of the vehicle M in which the vehicle M becomes low speed includes, for example, a case where the traveling lane of the vehicle M is congested. Therefore, for example, the suppression control unit 152b determines whether or not the traveling lane of the vehicle M is congested based on the recognition result by the object recognition sensor 166a, and if it is determined that the traveling lane is congested, the position correction is performed. The position correction by the control unit 152a may be suppressed.

Further, the suppression control unit 152b may suppress the correction of the position of the virtual image VI by the position correction control unit 152a when the rough road determination unit 330 determines that the road on which the vehicle M travels is a rough road. Thereby, for example, when the unevenness of the road is continuous, the processing load of the position correction can be reduced by suppressing the correction of the position of the virtual image VI.

Further, for example, when the end portion of the virtual image VI is in contact with the upper end portion of the displayable area A1, the position correction control unit 152a cannot move the virtual image VI further upward. Similarly, when the end portion of the virtual image VI is in contact with the lower end portion of the displayable area A1, the position correction control unit 152a cannot move the virtual image VI further downward. Therefore, the suppression control unit 152b may suppress the correction of the position of the image when the end portion of the virtual image VI is in contact with the upper end portion or the lower end portion of the displayable area A1.

FIG. 11 is a diagram for explaining correction suppression control at the display position of the virtual image VI. In the example of FIG. 11, the lower end of the displayable area A1 is displayed so that the lower end of the virtual image VI is in contact with the lower end. The display mode as shown in FIG. 11 is, for example, correction control of the position correction control unit 152a according to the external environment of the vehicle M (for example, the posture when traveling uphill), or an adjustment switch by the driver. It is realized by the operation of 136. When the end of the virtual image VI is in contact with the lower end of the displayable area A1, the suppression control unit 152b cannot move the virtual image VI further downward, so that the position correction control unit 152a corrects the position. Suppress. The suppression control unit 152b suppresses only the correction of the downward position by the position correction control unit 152a, and allows the correction of the upward position within the displayable range A1 or the upward correction area CA1. May be good.

Here, when the virtual image VI is displayed so as to contact the lower end of the displayable area A1 as shown in FIG. 11, the depression angle θ is maximized. Therefore, the suppression control unit 152b may suppress the position correction by the position correction control unit 152a when the magnitude of the depression angle θ is the maximum angle.

Further, the suppression control unit 152b may control the degree of correction in the position correction control unit 152a based on the external environment of the vehicle M. The degree of correction is the magnitude of the correction amount of the position of the virtual image VI based on the external environment of the vehicle M, or the magnitude of the suppression amount of the correction. For example, the suppression control unit 152b adjusts the correction gain (magnitude of the correction amount) based on the magnitude of the pitch angle, the magnitude of the vehicle speed, the magnitude of the steering angle, and the like.

FIG. 12 is a diagram for explaining the relationship between the pitch angle and the correction gain. In FIG. 12, the horizontal axis represents the pitch angle and the vertical axis represents the correction gain. For example, when the vehicle M is traveling horizontally, the suppression control unit 152b sets the pitch angle θp obtained from the environment sensor 166 to zero (0), and when the pitch angle θp fluctuates due to traveling on a step or a slope. Change the correction gain of. In FIG. 13, when the pitch angle θp is positive, it indicates an angle below the horizontal, and when it is negative, it indicates an angle above the horizontal. For example, when the pitch angle θp is −θp1 or more and θp1 or less, the suppression control unit 152b does not suppress the execution of the correction control by the position correction control unit 152a, and the vehicle M has a predetermined correction gain. The display position of the virtual image VI based on the external environment of is corrected. Further, the suppression control unit 152b corrects the position by the position correction control unit 152a so that the correction gain decreases as the pitch angle decreases from −θp1 to −θp2 or increases from θp1 to θp2. Suppress. Further, when the pitch angle θp is smaller than −θp2 and larger than θp2, the suppression control unit 152b does not execute the position correction by the position correction control unit 152a. As a result, the virtual image VI can be displayed at a more appropriate position, so that the visibility of the driver can be improved. Further, by the above-described processing, the correction gain becomes smaller as the display position of the virtual image VI approaches the end (limit position) of the displayable area, so that the movement range of the virtual image VI approaches the limit position. It can be made easier for people to recognize.

[Processing flow]
FIG. 13 is a flowchart showing a flow of processing executed by the display device 100 of the embodiment. The process of FIG. 13 is repeatedly executed at a predetermined timing after the display device 100 is turned on by the operation switch 130, for example.

First, the image generation unit 151 generates an image to be superimposed on the landscape based on the external environment of the vehicle M and the setting information stored in the storage unit 154 (step S100). Next, the display mode control unit 152 determines the display mode of the generated image based on the setting information and the like (step S102). Next, the drive control unit 153 controls the concave mirror actuator 182 by the optical system controller 170 based on the display mode determined by the display mode control unit 152, and the virtual image VI can be visually recognized at the depression angle indicated by the display mode. The reflection angle φ of the concave mirror 126 is adjusted so as to be (step S104). Next, the display mode control unit 152 projects light including an image generated based on the display mode from the floodlight device 120 by the display controller 172 (step S106).

Next, the display mode control unit 152 determines whether or not the external environment of the vehicle M satisfies a predetermined condition based on the behavior of the vehicle M acquired by the vehicle behavior acquisition device 300 (step S108). When the external environment of the vehicle M satisfies a predetermined condition, the display mode control unit 152 sets the vanishing point of the traveling lane of the vehicle M estimated by the vanishing point estimation device 168 and the driver estimated by the gazing point estimation device 169. (Step S110). Next, the display mode control unit 152 determines whether or not the distance between the vanishing point and the gazing point on the image captured by the camera is less than a predetermined distance (step S112). When the distance between the vanishing point and the gazing point is less than a predetermined distance, the position correction control unit 152a corrects the position of the image based on the external environment of the vehicle M (step S114). When the distance between the vanishing point and the gazing point is equal to or greater than a predetermined distance, the suppression control unit 152b suppresses the position correction by the position correction control unit 152a (step S116). As a result, the processing of this flowchart ends. Further, if the external environment of the vehicle M does not satisfy the predetermined condition by the process of step S108, the process of this flowchart is terminated.

According to the above-described embodiment, in the display device 100, a light projecting device 120 that projects light including an image and a distance from a predetermined position to a position where the light is formed as a virtual image provided on the path of the light. The display control device 150 includes an optical mechanism 122 capable of adjusting the above and a display control device 150 for controlling the floodlight device 120, and the display control device 150 has a viewpoint of the occupant of the vehicle M and a vanishing point of the traveling lane of the vehicle M. When the distance is less than the predetermined distance, the position of the image formed based on the external environment of the vehicle M is corrected, and when the distance between the gazing point and the vanishing point is equal to or more than the predetermined distance, the image is displayed. By suppressing the position correction, the visibility of the image can be improved. Specifically, according to the embodiment, when the position of the image based on the external environment of the vehicle M is corrected, if the gaze point of the driver deviates from the vanishing point, the correction of the position of the image is suppressed. Further, according to the embodiment, the correction of the position of the image is suppressed under predetermined conditions such as when the vehicle M is turning, starting, traveling at a low speed, traveling on a rough road or a slope. As a result, it is possible to suppress the movement of the image with a sense of discomfort and improve the visibility of the image by the driver.

In the above-described embodiment, the display device 100, for example, instead of projecting an image directly on the front windshield 20, is a light-transmitting reflection such as a combiner provided between the position of the driver and the front windshield 20. An image may be projected onto the member.

Although the embodiments for carrying out the present invention have been described above using the embodiments, the present invention is not limited to these embodiments, and various modifications and substitutions are made without departing from the gist of the present invention. Can be added.

10 ... Steering wheel, 20 ... Front windshield, 30 ... Instrument panel, 40 ... Driver's seat, 50-1 ... 1st display, 50-2 ... 2nd display, 100 ... Display device, 110 ... Display, 115 ... Housing, 120 ... Floodlight, 122 ... Optical mechanism, 124 ... Plane mirror, 126 ... Concave mirror, 128 ... Translucent cover, 130 ... Operation switch, 150 ... Display control device, 151 ... Image generator, 152 ... Display Aspect control unit, 152a ... Position correction control unit, 152b ... Suppression control unit, 153 ... Drive control unit, 154 ... Storage unit, 162 ... Position sensor, 164 ... Concave mirror angle sensor, 166 ... Environment sensor, 170 ... Optical system controller, 172 ... Display controller, 180 ... Lens actuator, 182 ... Concave mirror actuator, 200 ... Driving support control device, 300 ... Vehicle behavior acquisition device, M ... Vehicle

Claims (8)

A floodlight that projects light including images,
An optical mechanism provided on the path of the light and capable of adjusting the distance from a predetermined position to a position where the light is formed as a virtual image.
A control device that controls the floodlight device and
It is equipped with a vanishing point estimation device that detects the vanishing point of the vehicle's driving lane.
The control device is an image formed based on the external environment of the vehicle when the distance between the gazing point of the occupant of the vehicle and the vanishing point estimated by the vanishing point estimation device is less than a predetermined distance. When the distance between the gazing point and the vanishing point is equal to or greater than a predetermined distance, the correction of the position of the image is suppressed.
Display device. The control device suppresses the correction of the position of the image when the vehicle is in a turning state.
The display device according to claim 1. The control device suppresses correction of the position of the image when the speed of the vehicle is equal to or lower than a predetermined speed.
The display device according to claim 1 or 2. The control device suppresses correction of the position of the image when the road on which the vehicle travels is congested.
The display device according to any one of claims 1 to 3. The control device changes the degree of correction of the position of the image based on the external environment of the vehicle.
The display device according to any one of claims 1 to 4. The control device suppresses correction of the position of the image when the end of the image touches the upper end or the lower end of the displayable area of the image.
The display device according to any one of claims 1 to 5. A light projecting device that projects light including an image, an optical mechanism provided on the path of the light and capable of adjusting the distance from a predetermined position to a position where the light is formed as a virtual image, and the light projecting device. A display device including a control device for controlling and a vanishing point estimation device for detecting a vanishing point in the traveling lane of a vehicle.
When the distance between the gazing point of the occupant of the vehicle and the vanishing point estimated by the vanishing point estimation device is less than a predetermined distance, the position of the image formed based on the external environment of the vehicle is corrected. ,
When the distance between the gazing point and the vanishing point is equal to or greater than a predetermined distance, the correction of the position of the image is suppressed.
Display control method. An optical mechanism in which a light projecting device for projecting light including an image is provided on the path of the light and the distance from a predetermined position to a position where the light is formed as a virtual image can be adjusted, and the light projecting device. A display device including a control device for controlling and a disappearance point estimation device for detecting a disappearance point in the traveling lane of a vehicle.
When the distance between the gazing point of the occupant of the vehicle and the vanishing point estimated by the vanishing point estimation device is less than a predetermined distance, the position of the image formed based on the external environment of the vehicle is corrected. ,
When the distance between the gazing point and the vanishing point is equal to or greater than a predetermined distance, the correction of the position of the image is suppressed.
program.

Images