JP6186905B2 - In-vehicle display device and program - Google Patents

Description

  The present invention relates to an in-vehicle display device that informs a driver of information related to a traveling road environment of the host vehicle using, for example, a HUD (head-up display).

  2. Description of the Related Art Conventionally, a HUD that projects light onto a windshield or a combiner of a vehicle and displays various images so that a driver can visually recognize the image is known (see, for example, Patent Document 1). As an application example of this HUD, for example, information on various states of the host vehicle such as the speed and direction of the vehicle, warning lights, etc. is acquired, and in the driver's line of view, this information is displayed in front of the host vehicle. A technique for displaying a virtual image is known.

JP 2012-63524 A

  However, in the conventional technology, in the displayable area of the HUD, the image indicating various information is only displayed in a virtual image at a position fixed in advance as viewed from the driver. Therefore, depending on the type of information indicated by the display image For example, when a plurality of images are displayed at one time, the information is buried in other information, and the driver may not be able to see the displayed image well.

  The present invention has been made in view of these points, and an object thereof is to provide an in-vehicle display device and a program that allow a driver to understand specific information more intuitively and preferably.

  The present invention made to achieve the above object includes a virtual image display means for reflecting light for displaying an image by a windshield or a combiner, outputting it to the driver's eyes, and displaying the image as a virtual image in front of the vehicle. And an information acquisition means for acquiring information relating to the traveling road environment of the vehicle, a road edge recognition means for recognizing the edge of the road ahead of the vehicle, and an image control means. Then, the road environment image showing the information acquired by the information acquisition means at a position corresponding to the edge of the road recognized by the road edge recognition means as seen from the driver in the displayable area of the virtual image display means. Is displayed.

  In such a configuration, since the road environment image is superimposed and displayed at a position corresponding to the edge of the road ahead of the vehicle as viewed from the driver, driving intuitively indicates that the display image is information on the traveling road environment. The driver can make the driver understand the road environment image without blocking other vehicles in front of the vehicle and the road surface display.

  Therefore, according to the present invention, it is possible to make the driver understand the information on the traveling road environment of the vehicle more intuitively and preferably. Furthermore, in principle, the driver knows that the road environment image is displayed at a position corresponding to the edge of the road, thereby reducing the driver's psychological stress of not knowing where the road environment image is displayed. Can be made.

  The present invention can be distributed as a program on the market. Specifically, it is a program that causes a computer connected to the above-described virtual image display means, information acquisition means, and road edge recognition means to function as the image control means. Further, the program is a program that causes a computer connected to the virtual image display means and the information acquisition means to function as the road edge recognition means and the image control means. Further, the present invention is a program for causing a computer connected to the virtual image display means and the road edge recognition means to function as the information acquisition means and the image control means. In addition, this is a program for causing a program connected to the virtual image display means to function as the information acquisition means, road edge recognition means, and image control means.

  By incorporating these programs into the above-described computer, it is possible to obtain the same effects as those achieved by the in-vehicle display device of the present invention. The program of the present invention may be stored in a ROM, flash memory, or the like incorporated in a computer and loaded from the ROM, flash memory, or the like into the computer, or loaded into the computer via a network. May be.

  Further, the above program may be used by being recorded on a recording medium in any form readable by a computer. Examples of the recording medium include a portable semiconductor memory (for example, a USB memory or a memory card (registered trademark)).

It is a block diagram which illustrates the whole structure of a vehicle-mounted display apparatus. It is the 1st explanatory view showing the virtual image (road environment image) which an in-vehicle display device displays when looking forward from a driver's viewpoint. It is the 2nd explanatory view showing the virtual image (road environment image) which an in-vehicle display device displays when seeing the front from a driver's viewpoint. It is a flowchart for demonstrating the content of the process (display control process) which a vehicle-mounted display apparatus performs. It is explanatory drawing showing the correspondence of the position of the edge of a road, and the display coordinate in a liquid crystal panel, (a) represents the display coordinate of a liquid crystal panel, (b) represents the position (direction) of the edge of a road, (C) shows the conversion table of the position (direction) of the edge of a road, and the display coordinate in a liquid crystal panel, (d) represents the state which displayed the virtual image (before height adjustment) on the liquid crystal panel on the windshield.

Embodiments of the present invention will be described below with reference to the drawings.
<Overall configuration>
First, the whole structure of the vehicle-mounted display device of this embodiment is demonstrated with drawing.

  As shown in FIG. 1, an in-vehicle display device 1 is a device mounted on a user's own vehicle 2, and includes an image output circuit (image control means) 3, a liquid crystal panel (virtual image display means) 5, a camera 7, a road. An edge recognition circuit (road edge recognition means) 9, a navigation system 10, an information reception circuit (information acquisition means) 11, a vehicle speed sensor 13, and a speaker 14 are provided.

  The image output circuit 3 outputs image data to the liquid crystal panel 5. The liquid crystal panel 5 is disposed on the upper part of the instrument panel 15 and displays an image output from the image output circuit 3. Light for displaying an image output from the liquid crystal panel 5 is reflected by the windshield 17 and enters the driver's viewpoint 19. As a result, when viewed from the driver, a virtual image 21 of the image displayed on the liquid crystal panel 5 is displayed at a position away from the windshield 17 by a predetermined distance in front of the vehicle.

  As shown in FIGS. 2 and 3, the image output circuit 3 and the liquid crystal panel 5 are located at a position corresponding to a road edge (hereinafter referred to as “road edge”) 23 in front of the host vehicle 2 as seen from the driver. Is the road environment of the host vehicle 2 at a position having a predetermined height H from the road edge 23 (hereinafter referred to as the “target road edge 25”) at a distance of the target distance D from the host vehicle 2 when viewed from the driver. It is possible to perform control to display a virtual image 21 (hereinafter referred to as “road environment image 33”) indicating information on the relationship (hereinafter referred to as “road environment information”). Further, the image output circuit 3 and the liquid crystal panel 5 are provided with information relating to the state of the host vehicle 2 (hereinafter referred to as “vehicle state information”) at a position in a region fixed in advance in the lower portion of the windshield 17 when viewed from the driver. Control to display a virtual image 21 (hereinafter referred to as “vehicle state image 35”). Further, the image output circuit 3 and the liquid crystal panel 5 can change the color tone of the virtual image 21 to various colors.

  Although the displayable area 27 of the virtual image 21 is smaller than the field of view through the windshield 17 of the driver, the displayable area 27 is set so as to include an area from the central portion to the lower portion of the windshield 17. A virtual image 21 transmitted from (a combiner may be attached to the windshield 17) is displayed.

  The camera 7 is an imaging device for capturing a video in front of the host vehicle 2 (hereinafter referred to as “front video”). The camera 7 is a stereo camera that can acquire information on the depth direction by simultaneously photographing the front of the host vehicle 2 from a plurality of different directions, and is located near the driver's viewpoint 19 in the passenger compartment of the host vehicle 2. Installed. The road edge recognition circuit 9 determines whether or not the road edge 23 is present in the forward video imaged by the camera 7, and if so, the road at a position further away from the host vehicle 2 by the target distance D. It is determined whether or not the end 23 (target road end 25) exists. And when the object road edge 25 exists, the direction (direction of the object road edge 25 seen from the viewpoint 19) is calculated. These processes can be performed using a known image recognition process.

  The navigation system 10 uses the well-known GPS to acquire position information of the host vehicle 2, and based on the map data, information about the road on which the host vehicle 2 is traveling (for example, road width, road type, speed limit, etc.) ) Can be output together with the position information as road environment information. In addition, the navigation system 10 wirelessly connects to an external service center or roadside device via a wireless communication device (not shown), thereby information related to the road on which the host vehicle 2 is traveling (for example, congestion status and lane restrictions). And the acquired information can be output as road environment information. In addition, when the destination of the host vehicle 2 is input, the navigation system 10 sets a route to the destination and executes route guidance. The information receiving circuit 11 receives position information and road environment information using the navigation system 10 at a predetermined cycle, and outputs the received information to the image output circuit 3 and the road edge recognition circuit 9.

  The vehicle speed sensor 13 detects the speed of the host vehicle 2 and outputs the result to the image output circuit 3. The speaker 14 is installed in the passenger compartment of the host vehicle 2 and can output a voice message according to route guidance in the navigation system 10.

<Processing executed by in-vehicle display device>
Next, processing executed by the in-vehicle display device of this embodiment will be described with reference to the drawings. In the present embodiment, the image output circuit 3, the road edge recognition circuit 9, and the information reception circuit 11 are configured by one or a plurality of computers. For example, the CPU is based on a program stored in the ROM. Is used as a work area, and the following display control processing is executed. This display control process is started, for example, when the engine of the host vehicle 2 is turned on.

As shown in FIG. 4, when the display control process is started, in step 110, the camera 7 starts capturing a front image of the host vehicle 2.
Next, in step 120, the information receiving circuit 11 starts receiving position information of the host vehicle 2 and information on the traveling road environment (road environment information) from the navigation system 10.

  In step 130, the image output circuit 3 converts the vehicle state image 35 indicating the vehicle state information such as the speed of the host vehicle 2 obtained from the vehicle speed sensor 13 to the fixed position coordinates corresponding to the lower portion of the windshield 17. Processing for generating image data to be displayed and outputting the image data to the liquid crystal panel 5 (fixed position display processing) is started.

  The vehicle state information only needs to be information related to the state of the host vehicle 2. In addition to the speed of the host vehicle 2, for example, the operation state of the direction indicator in the host vehicle 2, the door open / close state, and the engine rotation It may be the number, the temperature of the cooling water, the presence or absence of abnormality in each system, the direction guided by the route guidance of the navigation system 10, and the like. Moreover, the vehicle state image 35 should just be an image which shows at least 1 of these vehicle state information, and the design, such as a color and a shape, is predetermined for every vehicle state information.

  In step 140, the road edge recognition circuit 9 from the front image acquired from the camera 7 in step 110, the road edge 23 ahead of the host vehicle 2 (specifically, the road edge 23 on the side where a road sign or the like is installed). Recognize For example, this processing is realized by a known white line detection technique in which the shape, size, color, and the like of a white line on the road surface are stored in advance, and when there is an element that approximates it, it is detected as a white line. For example, in this process, the leftmost white line among the detected white lines may be recognized as the road edge 23. Alternatively, based on the position information of the own vehicle 2 and the road environment information input from the information receiving circuit 11 in S120, the end of the white line defined according to the road width on the traveling road of the own vehicle 2 is recognized as the road end 23. May be. Furthermore, the road edge 23 can be recognized based on the current position of the host vehicle 2 and the road width on the traveling road without using the white line detection technique.

  Subsequently, in step 150, the road edge recognition circuit 9 determines whether or not the road edge 23 has been recognized from the front image in step 140. If it can be recognized, the process proceeds to step 160; otherwise, the process returns to step 140.

  Next, in step 160, the image output circuit 3 sets the target distance D for defining the target road edge 25 according to the speed of the host vehicle 2 obtained from the vehicle speed sensor 13 in step 130, for example. Specifically, the target distance D is set to a larger value as the speed of the host vehicle 2 is higher. For example, if the speed of the host vehicle 2 is 40 km / h, the target distance D is set to 40 m, and if the speed of the host vehicle 2 is 100 km / h, the target distance D is set to 100 m. The target distance D may be variably set linearly with respect to the speed of the host vehicle 2 or may be variably set stepwise. Further, the target distance D may be variably set with hysteresis so that the value differs between when the speed of the host vehicle 2 increases and when the speed of the host vehicle 2 decreases. Alternatively, based on the road environment information input from the information receiving circuit 11 in S120, depending on the type of road on which the host vehicle 2 is traveling (road type), for example, 40m for ordinary roads and 100m for expressways, The target distance D may be variably set, or the target distance D with respect to the speed of the host vehicle 2 may be set to a different value for each road type.

  In step 170, the road edge recognition circuit 9 determines whether or not the target road edge 25 located at the target distance D set by the image output circuit 3 in step 160 can be extracted from the road edge 23 recognized in step 140. . If it can be extracted, the process proceeds to step 180; otherwise, the process returns to step 140.

  In step 180, the road edge recognition circuit 9 calculates the direction of the extracted target road edge 25 (the direction toward the target road edge 25 viewed from the viewpoint 19). This calculation is realized by, for example, using a known stereo correlation method, converting the forward image from the camera 7 into three-dimensional information, and generating three-dimensional information indicating the position of the target road edge 25. Then, the road edge recognition circuit 9 outputs this three-dimensional information to the image output circuit 3.

  Subsequently, in step 190, the image output circuit 3 detects the virtual image 21 at a place away from the windshield 17 by a predetermined distance (for example, about 2 m) based on the three-dimensional information input from the road edge recognition circuit 9 in step 180. On the surface showing the displayable area 27 (hereinafter referred to as “virtual image display surface”), the display coordinates corresponding to the target road edge 25 are calculated. That is, here, the coordinates for displaying the virtual image 21 at the position of the target road edge 25 as viewed from the driver are calculated.

  In step 200, the coordinate in the height direction (Y coordinate) among the display coordinates calculated in step 190 is determined from the position of the target road edge 25 based on the three-dimensional information input from the road edge recognition circuit 9 in step 180. Set to coordinates corresponding to height H. That is, here, the coordinates for displaying the virtual image 21 at a position having a predetermined height H from the target road edge 25 as viewed from the driver are set.

  In step 210, the image output circuit 3 displays an image (road environment image 33) indicating the road environment information (for example, the speed limit or the congestion state of the traveling road) input from the information receiving circuit 11 in S120. Image data to be displayed at the set coordinates (hereinafter referred to as “target position coordinates”) is generated, and this image data is output to the liquid crystal panel 5. The virtual image 21 (road environment image 33) displayed based on this image data is a road edge 23 (target) that is separated from the host vehicle 2 by a target distance D as seen from the driver, as shown in FIGS. Is displayed at a position corresponding to the road edge 25) (in this embodiment, a position having a predetermined height H from the target road edge 25).

  Finally, in step 220, the image output circuit 3 moves the road environment image 33 along the road edge 23 so as to follow the position of the target road edge 25 that changes as the host vehicle 2 travels. Start processing. In this image moving process, for example, the front image acquired from the camera 7 in step 110, the speed of the own vehicle 2 obtained from the vehicle speed sensor 13 in step 130, and the own vehicle 2 input from the information receiving circuit 11 in step 120. Based on the position information, road environment information, and the like, the travel locus of the host vehicle 2 can be predicted, and the display position of the road environment image 33 can be changed so that the road edge 23 can be smoothly moved according to the predicted travel locus. . In the image moving process, for example, when the target road edge 25 cannot be extracted in the displayable area 27, the display of the road environment image 33 may be deleted, or another road in the displayable area 27 may be deleted. The road environment image 33 may be temporarily displayed at the edge 23 or the edge of the displayable area 27. When the target road edge 25 can be extracted in the displayable area 27, the target road edge 25 is displayed. You may change the display position of the road environment image 33 so that it may move smoothly toward.

  As described above, in the display control process, the road edge recognition circuit 9 generates three-dimensional coordinate information indicating the position of the target road edge 25. As shown in FIG. 5B, this three-dimensional coordinate information is a combination of coordinates in the X direction (vehicle width direction), coordinates in the Y direction (vehicle height direction), and coordinates in the Z direction (depth direction). Represented as: As shown in FIG. 5C, the storage unit (not shown) of the in-vehicle display device 1 includes three-dimensional coordinate information of the target road edge 25 generated by the road edge recognition circuit 9 and the liquid crystal panel 5. A coordinate conversion table with display coordinates is stored. As shown in FIG. 5A, when the display 31 is represented in the display coordinates converted by the coordinate conversion table in the liquid crystal panel 5, the position of the virtual image 21 generated by the display 31 is shown in FIG. As shown, it is the same position as the target road edge 25 as seen from the driver.

  Thereby, the image output circuit 3 calculates display coordinates corresponding to the target road edge 25 in the liquid crystal panel 5 using the three-dimensional coordinate information generated by the road edge recognition circuit 9 and the conversion table described above. It becomes possible. Therefore, in the display control process, the image output circuit 3 is controlled by adding the predetermined height H in advance to the coordinate (Y coordinate) in the Y direction of the three-dimensional coordinate information generated by the road edge recognition circuit 9. The road environment image 33 can be displayed as the virtual image 21 at the same position as the position having the predetermined height H from the road edge 25.

<Effect>
As described above, in the in-vehicle display device 1, the information receiving circuit 11 acquires information on the traveling road environment of the host vehicle 2, and the road edge recognition circuit 9 recognizes the road edge 23 ahead of the host vehicle 2. Then, in the displayable area 27 that is visible to the driver over the windshield 17, the image output circuit 3 is positioned by the information receiving circuit at a position corresponding to the road edge 23 recognized by the road edge recognition circuit 9 when viewed from the driver. A road environment image 33 indicating the acquired information is displayed.

  In such a configuration, since the road environment image 33 is superimposed and displayed at a position corresponding to the road edge 23 ahead of the host vehicle 2 as viewed from the driver, it is intuitive that the display image is information on the traveling road environment. Thus, the driver can understand the road environment image and the driver can visually recognize the road environment image without blocking other vehicles in front of the host vehicle 2 and the road surface display.

  Therefore, according to the in-vehicle display device 1, it is possible to make the driver understand the information regarding the traveling road environment of the host vehicle 2 more intuitively and preferably. Furthermore, as a general rule, the driver knows that the road environment image 33 is displayed at a position corresponding to the road edge. It can be reduced.

  In the in-vehicle display device 1, the image output circuit 3 displays the road environment image 33 at a position having a predetermined height H from the road edge 23 when viewed from the driver. For example, the driver views a road sign. The road environment image 33 can be visually recognized with such a sense, and the driver can understand information related to the traveling road environment of the host vehicle 2 with a reasonable line-of-sight movement.

  In the in-vehicle display device 1, the image output circuit 3 moves the road environment image 33 along the road edge 23 as viewed from the driver. Therefore, the road environment image 33 corresponds to the road edge 23 for a relatively long time. It becomes possible to continue to display the position, and the opportunity for the driver to visually recognize the road environment image 33 can be suitably increased.

  Further, in the in-vehicle display device 1, the image output circuit 3 is viewed from the driver by a road edge 23 (that is, the target) that is separated from the host vehicle 2 by the target distance D set according to the type of the traveling road of the host vehicle 2. A road environment image 33 is displayed at a position corresponding to the road edge 25). As a result, even if the driver's field of view becomes narrower while traveling on the highway, the target distance D can be set larger, so the road environment image 33 can be included in the driver's field of view. The burden on the driver when visually recognizing the road environment image 33 can be reduced.

  Further, in the in-vehicle display device 1, the image output circuit 3 is viewed from the driver by the road end 23 (that is, the target road end 25) separated from the own vehicle 2 by the target distance D set according to the speed of the own vehicle 2. The road environment image 33 is displayed at a position corresponding to). As a result, the display position of the road environment image 33 can be adjusted to the driver's field of view according to the actual traveling speed of the host vehicle 2, so that the driving required when the road environment image 33 is visually recognized during driving. The burden on the person can be reduced more suitably.

  In the in-vehicle display device 1, the image output circuit 3 displays information related to the state of the host vehicle 2 at a position fixed in advance when viewed from the driver in the displayable area 27 that is visible to the driver through the windshield 17. The vehicle state image 35 shown is displayed. For this reason, by determining the display position of the vehicle state image 35 as a fixed position, it is possible to eliminate the psychological stress of not knowing where the vehicle state image 35 is displayed. Furthermore, since the vehicle state image 35 is displayed at a position different from the road environment image 33, it is intuitively operated that the display image is not information related to the traveling road environment but information related to the state of the host vehicle 2. Can understand.

  Specifically, by setting the display position of the vehicle state image 35 in the lower part of the windshield 17, the driver can visually recognize the vehicle state image 35 by slightly dropping the line of sight. The burden on the person can be reduced. Furthermore, in this case, since the display image can be prevented from being superimposed on other vehicles, it is possible to avoid the trouble and danger that the other images are difficult to see due to the display image.

<Other embodiments>
As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, In the range which does not deviate from the summary of this invention, it is possible to implement in various aspects.

  For example, in the display control process of the above embodiment, the image output circuit 3 displays the road environment image 33 at a position having a predetermined height H from the road edge 23 as viewed from the driver. Instead, the road environment image 33 may be displayed at the position of the road edge 23 (that is, the position where the predetermined height H is 0).

  In the display control process of the above embodiment, the image output circuit 3 displays the road environment image 33 at a position corresponding to the road edge 23 on the side where a road sign or the like is installed as viewed from the driver. The road environment image 33 may be displayed at a position corresponding to any road edge 23 in front of the host vehicle 2.

  Further, in the display control process of the above embodiment, the image output circuit 3 receives the coordinates in the height direction (Y coordinate) among the display coordinates calculated in step 190 from the road edge recognition circuit 9 in step 180. Although the coordinates corresponding to the predetermined height H from the position of the target road edge 25 are set based on the information, they may be set to the coordinates obtained by adding the Y coordinate by the predetermined height h.

  In the display control processing of the above embodiment, the image data output from the image output circuit 3 to the liquid crystal panel 5 does not particularly refer to the size of the road environment image 33. For example, the larger the target distance D is, Reality may be produced by reducing the road environment image 33 and enlarging the road environment image 33 as the target distance D decreases.

  Moreover, in the display control process of the said embodiment, although demonstrated about the vehicle-mounted display apparatus 1 based on the structure by which the display distance (distance of the depth direction) of the virtual image 21 from the windshield 17 was predetermined, it is limited to this. In the configuration in which the in-vehicle display device 1 can change the display distance of the virtual image 21 from the windshield 17 by changing the display distance of the virtual image 21 according to the target distance D, for example, The road environment image 33 may be displayed as a virtual image at the position of the road edge 23.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle-mounted display apparatus, 2 ... Own vehicle, 3 ... Image output circuit, 5 ... Liquid crystal panel, 7 ... Camera, 9 ... Road edge recognition circuit, 10 ... Navigation system, 11 ... Information receiving circuit, 13 ... Vehicle speed sensor, 14 ... Speaker, 15 ... Instrumental panel, 17 ... Front glass, 19 ... Viewpoint, 21 ... Virtual image, 23 ... Road edge, 25 ... Target road edge, 27 ... Displayable area, 31 ... Display, 33 ... Road environment image, 35 ... Vehicle state image.

Claims (12)

A virtual image display means (5) for reflecting light for displaying an image by a windshield (17) or a combiner, outputting it to the driver's eyes, and displaying the image as a virtual image (21) in front of the vehicle (2);
Information acquisition means (11) for acquiring information relating to a traveling road environment of the vehicle;
Road edge recognition means (9) for recognizing the edge (23) of the road ahead of the vehicle;
In the displayable area (27) of the virtual image display means, a road environment image showing the information acquired by the information acquisition means at a position corresponding to the edge of the road recognized by the road edge recognition means as seen from the driver. Image control means (3) for displaying (33);
With
The image control means displays the road environment image at a position having a predetermined height from an edge of the road at a position away from the vehicle by a preset target distance as seen from the driver. In-vehicle display device. The in-vehicle display device according to claim 1, wherein the image control unit moves the road environment image along an edge of the road as viewed from the driver. The image control means displays the road environment image at a position corresponding to an edge of the road away from the vehicle by the target distance set according to the type of the road on which the vehicle is viewed from the driver. The in-vehicle display device according to claim 1, wherein the display is displayed. The image control means displays the road environment image at a position corresponding to an edge of the road that is away from the vehicle by the target distance set according to the speed of the vehicle as seen from the driver. The in-vehicle display device according to any one of claims 1 to 3, wherein: The said image control means displays the vehicle state image which shows the information regarding the state of the said vehicle in the position fixed previously seeing from the said driver in the displayable area of the said virtual image display means. The in-vehicle display device according to any one of claims 1 to 4 .   The image control means deletes the road environment image from the displayable area when the edge of the road cannot be extracted in the displayable area based on the recognition result by the road edge recognition means. The in-vehicle display device according to any one of claims 1 to 5.   The image control means displays the road environment image at the end of the displayable area when the edge of the road cannot be extracted within the displayable area based on the recognition result by the road edge recognition means. The in-vehicle display device according to any one of claims 1 to 5, wherein the on-vehicle display device is characterized.   When the image control means is able to extract the edge of the road in the displayable area based on the recognition result by the road edge recognition means, the image control means sees the driver from the end of the displayable area. The in-vehicle display device according to claim 7, wherein the in-vehicle display device is moved to a position corresponding to the edge. A virtual image display means (5) for reflecting light for displaying an image by a windshield (17) or a combiner, outputting it to the driver's eyes, and displaying the image as a virtual image (21) in front of the vehicle (2); The computer connected to the information acquisition means (11) which acquires the information regarding the traveling road environment of the said vehicle, and the road edge recognition means (9) which recognizes the edge of the road ahead of the said vehicle, Claim 1 thru | or Claim The program for functioning as the said image control means of any one of 8 . A virtual image display means (5) for reflecting light for displaying an image by a windshield (17) or a combiner, outputting it to the driver's eyes, and displaying the image as a virtual image (21) in front of the vehicle (2); the computer connected to the information acquiring means for acquiring information concerning the traveling road environment of the vehicle (11), in any one of the road edge recognizing means and claims 1 to 8 according to claim 1 program for functioning as a pre-Symbol image control means described. A virtual image display means (5) for reflecting light for displaying an image by a windshield (17) or a combiner, outputting it to the driver's eyes, and displaying the image as a virtual image (21) in front of the vehicle (2); wherein the computer connected to the road edge recognizing means for recognizing an edge of the vehicle front road (9), in any one of the information acquiring unit and the claims 1 to 8 according to claim 1 program for functioning as a pre-Symbol image control means. Light for displaying the image is reflected by the windshield (17) or combiner, output to the driver's eyes, and connected to the virtual image display means (5) for displaying the image as a virtual image (21) in front of the vehicle (2) the computer that is, the information acquisition unit according to claim 1, wherein the road edge recognizing means and claim 1 to program for functioning as a pre-Symbol image control unit according to any one of claims 8.