JP6361988B2 - Vehicle display device - Google Patents

Description

  The present invention relates to a display device for a vehicle including an imaging unit capable of imaging the rear from both ends in the vehicle width direction, and more particularly, a vehicle capable of adjusting a virtual image imaging position by changing an optical path of imaging information captured by the imaging unit. The present invention relates to a display device.

2. Description of the Related Art Conventionally, a light projection unit (projector) that is a light source and a reflection unit that reflects display information displayed on the light projection unit toward a projection area of a front windshield of a vehicle are provided. 2. Description of the Related Art A head-up display device (HUD) is known in which a virtual image of display information projected onto a vehicle is watermarked and superimposed on a vehicle foreground.
In such a HUD, by changing the optical path of the display information, the occupant perceives that a virtual image of the display information is formed at a position ahead of the front window glass, not the projection area of the front window glass. Is also known.

  The visual assistance device for a vehicle disclosed in Patent Document 1 can display a plurality of imaging units capable of imaging a field of view different from the field of view reflected on the side mirror and a virtual side mirror so as to correspond to the installation positions of the plurality of imaging units. Comprising a virtual side mirror image display control means and a HUD, and simultaneously displaying a virtual side mirror image on a front window glass and a virtual image of imaging information taken by an imaging means corresponding to the virtual side mirror image. ing.

As a result of the revision of the safety standards of the Road Transport Vehicle Law following the revision of the international standards related to automobile mirrors, the use of a combination of an imaging camera and monitor in place of safety confirmation mirrors such as automobile rearview mirrors and side mirrors It became possible to run on public roads with mirrorless vehicles.
The revision of this safety standard is subject to certain standards such as the viewing angle and image quality of the monitor image being equivalent to or higher than those of the conventional rear-viewing mirror. Expected effects include improved safety associated with expansion, improved fuel efficiency associated with improved aerodynamic characteristics, and reduced noise (wind noise).

Japanese Patent No. 4849333

In a mirrorless vehicle, for example, a pair of left and right side rear cameras are disposed at positions corresponding to the installation of the side mirrors, and captured images taken by the pair of left and right side rear cameras are mounted on the instrument panel. In addition, the specifications to display on each dedicated monitor are adopted.
When the occupant wants to confirm the rear side, the occupant needs to change the line-of-sight direction toward the front in the traveling direction to the direction of the dedicated monitor, which is a troublesome operation for the occupant and increases the burden. Moreover, since the line of sight is once removed from the front in the traveling direction, it is not preferable from the viewpoint of safety.

By applying the technique of Patent Document 1 to a mirrorless vehicle, a virtual image of imaging information (captured image) captured by the left and right side rear cameras is formed on the front windshield using the HUD, and the sight line direction of the occupant It is possible to reduce movement and expect a reduction in the burden on passengers.
However, while the vehicle is traveling, the occupant mainly captures the lane marking of the traveling lane in which the vehicle is traveling and the front in the traveling direction in the field of view, so the virtual image of the imaging information is connected to the rear side (occupant side) of the front end of the vehicle body. When imaged, the movement of the line of sight by the occupant occurs, so there is room for further improvement with regard to the reduction of the occupant's burden.

  An object of the present invention is to provide a vehicle display device and the like that can recognize side rear information of a vehicle without accompanying line-of-sight movement by an occupant.

The vehicle display device according to claim 1 is capable of forming a virtual image in front of an occupant by projecting imaging information captured by the imaging unit to the reflecting unit and imaging information that can capture the rear from both sides in the vehicle width direction. In a vehicle display device comprising: a light projecting unit; and an optical device including a light path changing unit capable of adjusting a virtual image forming position by changing a light path of the imaging information, the light projecting unit and the light path changing unit of the optical device When the occupant seated in the driver's seat visually recognizes the front in the traveling direction, the virtual vehicle of the imaged information is located near the front end of the vehicle body and the host vehicle, which is a real image, travels. The lane markings are displayed so that at least a part of the lane markings overlap.

In this vehicular display device, when the occupant seated in the driver's seat visually recognizes the front in the traveling direction , the control vehicle is positioned so that the virtual image of the imaging information behind the side is located in the vicinity of the front end of the vehicle body and the own vehicle that is a real image travels. Since the lane marking is displayed so that at least a part of the lane marking overlaps, the occupant can recognize the lane marking of the traveling lane and the lane marking of the side rear information without moving the line of sight. Thereby, the shift | offset | difference of lanes in a front driving lane and side back information is eliminated, and side back information can be read without a sense of incongruity.

According to a second aspect of the present invention, in the first aspect of the invention, the control means may be configured such that the occupant side end of the lane line displayed in the virtual image of the imaging information is close to the lane line of the lane in which the host vehicle is traveling. Or it is characterized by displaying so that it may correspond.
According to this configuration, the position of the host vehicle with respect to the traveling lane can be easily recognized.

A third aspect of the present invention is the first or second aspect of the present invention, further comprising vehicle speed detection means capable of detecting the vehicle speed of the host vehicle, wherein the control means moves the virtual image of the imaging information forward from the passenger as the vehicle speed increases. It is characterized by being displayed separately.
According to this configuration, the side rear information can be easily recognized without being influenced by the viewing angle.

According to a fourth aspect of the present invention, in any one of the first to third aspects of the present invention, the optical device includes a pair of left and right imaging means and a pair of left and right optical devices, and the pair of optical devices has an optical path. A pair of different laser-type light projection means is provided, and is arranged in the instrument panel from the center in the vehicle width direction to the driver's seat side , and the control means captures image information captured by the left and right imaging means. And a virtual image of imaging information captured by the imaging means on the left and right sides is displayed on the optical device on the left and right sides .
According to this configuration, it is possible to arrange a pair of optical devices that can independently control the optical path without affecting other devices.

The invention according to claim 5 is the invention according to any one of claims 1 to 4, wherein the front imaging means capable of imaging the front of the vehicle body including at least the lane marking of the lane in which the host vehicle travels, and the front imaging means Driving support means for supporting driving of the occupant based on the forward imaging information, and the control means overlaps at least partly with the lane marking of the lane in which the host vehicle travels based on the forward imaging information. A virtual image display position of the imaging information is set.
According to this configuration, the virtual image display position of the imaging information behind the side portion can be set appropriately.

  According to the vehicle display device of the present invention, it is possible to recognize side rear information of the vehicle without accompanying line-of-sight movement by the occupant.

1 is a side view of a vehicle including a vehicle display device according to a first embodiment. It is a top view which shows the imaging area of each camera. It is the figure which looked at the vehicle interior front. It is a control block diagram. It is explanatory drawing of the optical path in normal mode. It is explanatory drawing of the optical path in back mode. It is a figure which shows the passenger | crew's visual field of normal mode. It is a figure which shows the passenger | crew's visual field of a white line mode. It is a figure which shows the passenger | crew's view of a back mode. It is a flowchart which shows a display control processing procedure. It is a flowchart which shows a mode determination processing procedure. It is a flowchart which shows a back mode process sequence. It is a flowchart which shows a white line mode process sequence. It is a flowchart which shows a normal mode process sequence. It is a figure which shows another example of a display of white line mode. It is a figure which shows another example of a display in back mode, Comprising: (a) is the figure which displayed the top view in the auxiliary view, (b) is the figure which displayed the side view in the auxiliary view.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
The following description exemplifies a case where the present invention is applied to a display device of a side mirrorless automobile not equipped with a pair of left and right side mirrors, and limits the present invention, its application, or its use. is not.
Hereinafter, the vertical and horizontal directions will be described as the vertical and horizontal directions when viewed from the occupant (driver) seated in the driver's seat.

Hereinafter, Example 1 of the present invention will be described with reference to FIGS.
As shown in FIGS. 1 to 4, the vehicle V includes a display device 1 that can display imaging information behind the left and right sides as a virtual image in front of the front window glass 2 instead of the side mirror.
First, the vehicle V will be described.
The vehicle V includes a front window glass 2 in which the occupant can visually recognize the front in the traveling direction, a rear window glass 3 in which the occupant can visually confirm the rear, and various devices such as an air conditioner accommodated below the front window glass 2. An instrument panel 4 extending to the right side, a steering wheel 5 disposed on the right side portion of the instrument panel 4, a center console 6 extending rearward from the lower center portion of the instrument panel 4, and a drive unit 7a. Is equipped with a rearview mirror 7 that can adjust the tilt angle around the left and right axis, a shift lever 8 installed in the center console 6, a driving support device 9 that supports driving of the vehicle V by the occupant from the viewpoint of safety. ing.

As shown in FIGS. 1 to 4, the vehicle V includes a vehicle interior including seven external cameras 11 to 17 (imaging means) capable of capturing the outside of the vehicle V with moving images and a passenger (driver) of the vehicle V. Are provided with a pair of front and rear indoor cameras 18a and 18b capable of capturing a still image or a moving image.
The left rear camera 11 and the right rear camera 12 are configured by well-known image sensors, for example, a CCD (Charge Coupled Device), and the left rear imaging area A1 and the right rear side of the vehicle body over a long distance from the belt line portion of the front door. Each of the rear imaging areas A2 is configured to be capable of imaging. Specifically, when the vehicle lane adjacent to the vehicle V and the vehicle lane adjacent to the vehicle V, or the vehicle V lane is one lane on one side, the following vehicle and the road shoulder or sidewalk are imaged.
These side rear cameras 11 and 12 are mounted on the front end side portions of the left and right front doors in place of a pair of left and right side mirrors (door mirrors).

Obstacle cameras 13 to 16 image a blind spot area as viewed from the occupant seated in the driver's seat and image an obstacle approaching the vehicle V. Therefore, the obstacle camera 13 to 16 has a wide viewing angle (range from the vicinity of the vehicle V to a medium distance). For example, each of them is configured by a well-known image sensor having, for example, 130 ° or more), for example, a fish-eye CCD.
The front obstacle camera 13 is mounted on the front grille front center part in a slightly downward posture from the horizontal front, images the front obstacle area A3, and the rear obstacle camera 14 slightly extends from the horizontal rear to the trunk lid rear edge center part. It is mounted in a downward posture and images the rear obstacle area A4. The left obstacle camera 15 is integrally formed with the left rear camera 11 and is mounted on the left wall of the left rear camera 11 in a slightly downward posture from the horizontal left, and images the left obstacle area A5. . The right obstacle camera 16 is integrally formed with the right rear camera 12, and is mounted on the right wall of the right rear camera 12 in a slightly downward posture from the horizontal right, and images the right obstacle area A6. . The obstacle areas A3 to A6 are set on the entire circumference of the vehicle V so that there is no gap that becomes a blind spot of the occupant in plan view.

The white line camera 17 is composed of a CCD mounted at the center portion of the front end of the roof, and is configured to be able to image a front area including the travel lane of the vehicle V over a long distance from the vicinity of the vehicle V.
The forward imaging information captured by the white line camera 17 is output to the driving support device 9.
In the driving support device 9, the luminance of the front imaging information is differentiated in the horizontal direction, and the left and right sides of the driving lane 1 are generated by using edges that are high frequency components at both ends of the white line (division line) on the driving lane. The pair of white lines is estimated. With respect to the estimated white line portion, a pair of left and right white lines in the running lane is extracted based on a threshold value determined from brightness and contrast with the road surface, a white line width threshold value, and the like.
The driving support device 9 calculates the extracted white line information and the separation distance between the white line and the vehicle V (wheel), and when it is determined that the vehicle V may deviate from the white line of the traveling lane. An alarm (for example, a warning or a lamp is lit) that alerts the passenger is generated.

As shown in FIGS. 3 and 4, the indoor camera 18a is composed of a CCD mounted on the right part of the front end of the roof so as to be positioned in front of a passenger seated in the driver's seat, and the indoor camera 18b is seated in the driver's seat. It is composed of a CCD mounted on the right side portion of the rear end of the roof so as to be positioned on the back of the occupant. The indoor cameras 18a and 18b respectively capture the upper body including the occupant's face.
An image of the face portion is cut out from the captured upper body occupant image, and the occupant's eyeball is specified by general image recognition processing (for example, pattern matching), and then the occupant's eyeball position is determined from the camera coordinate system to the vehicle coordinate system ( Alternatively, the three-dimensional coordinates of the eyeball position are calculated.

Next, the display device 1 will be described.
The display device 1 according to the present embodiment sets virtual images of normal imaging information behind the left and right sides captured by the pair of left and right side rear cameras 11 and 12 in the vicinity of the left and right ends at the front end (front end of the vehicle body) of the bonnet 10. The normal mode process for forming images at the normal virtual image display position P1 and the virtual image of the normal imaging information captured by the pair of left and right side rear cameras 11 and 12 at least partially on the white line of the lane in which the vehicle V travels. The white line mode process for forming images at the front virtual image display position P2 set so as to be superimposed and the virtual image of the rear obstacle imaging information captured by the rear obstacle camera 14 are set in the middle in the horizontal direction at the rear end of the vehicle body. Back mode processing for forming an image at the rear virtual image display position P3 can be executed.
Hereinafter, a pair of left and right rectangular virtual images corresponding to normal imaging information of the pair of left and right side rear cameras 11 and 12 in the normal mode are displayed as the normal main view v1, and the pair of left and right side rear cameras 11 and 12 in the white line mode. The pair of left and right rectangular virtual images corresponding to the 12 normal imaging information is the front main view v2, and the single rectangular virtual image corresponding to the rear obstacle imaging information of the rear obstacle camera 14 in the back mode is the rear main view. It is called v3.

The display device 1 displays, in a normal mode or a white line mode, a virtual image of the obstacle imaging information captured by the obstacle cameras 13 to 16 under a certain condition, in the vicinity of one normal main view v1 close to the obstacle. In the back mode, the image is formed near the obstacle side in the rear main view v3.
In the normal mode or the white line mode, the virtual image of the obstacle imaging information captured by the obstacle cameras 13 to 16 is connected to the position near the normal main view v1 and the rear side of the hood 10 (the lower position in the occupant view). In the back mode, a virtual image of obstacle imaging information captured by the left and right side rear cameras 11, 12 and the obstacle cameras 13, 15, 16 is formed in the vicinity of the rear main view v3 at the rear end of the vehicle body. .
Hereinafter, a rectangular virtual image corresponding to the obstacle imaging information imaged in the vicinity of one normal main view v1 is converted into the obstacle imaging information imaged in the vicinity of the normal auxiliary view v4 and the rear main view v3. The corresponding rectangular virtual image is referred to as a rear auxiliary view v5.
The virtual images displayed in the normal auxiliary view v4 and the rear auxiliary view v5 include a top view (bird's eye view) created based on the imaging information of the obstacle cameras 13-16.

As shown in FIGS. 1 to 4, the display device 1 includes a pair of left and right main head-up displays capable of forming, as main views v <b> 1 and v <b> 2, virtual images of imaging information captured by the left and right side rear cameras 11 and 12. 20 and 30 (hereinafter abbreviated as main HUD), one of which forms a virtual image of rear obstacle imaging information captured by the obstacle camera 14 as the rear main view v3 and the other obstacle camera 13, 15 , 16 are arranged between a pair of left and right main HUDs 20 and 30 (optical devices) capable of forming a virtual image of obstacle imaging information taken as a rear auxiliary view v5 and the pair of main HUDs 20 and 30. In addition, a secondary head-up display (hereinafter, abbreviated as secondary HUD) 40 (light) that can form an image of obstacle imaging information captured by the obstacle cameras 13 to 16 as an auxiliary view v4. And it means), and a ECU (Electronic Control Unit) 50 (control means) and the like.
The main HUD 20 and 30 and the sub HUD 40 are juxtaposed in the left-right direction in the instrument panel 4 from the center to the right side, and each light path can be adjusted independently by an adjuster mechanism (not shown) that can be manually operated by the occupant. Each is formed.

  As shown in FIGS. 5 and 6, the left main HUD 20 has a laser projector 21 (light projection means) that projects image information captured by the left rear camera 11 and the image information projected from the projector 21. Reflective mirror 22 (reflecting means) that reflects toward the front window glass 2 (or the room mirror 7), a drive unit 23 that can drive the projector 21 forward and backward, and a reflective mirror 22 that can rotate about the vertical axis And a drive unit 25 that can rotate about the left and right axis, a drive unit 26 that can rotate the entire main HUD 20 about the left and right axis, and the like. The drive units 23 to 26 correspond to the optical path changing unit of the left main HUD 20.

  Similarly, the right main HUD 30 projects the imaging information captured by the right rear camera 12 and the like, and directs the imaging information projected from the projector 31 to the front window glass 2 (or the room mirror 7). Reflecting mirror 32, a drive unit 33 capable of driving the projector 31 back and forth in the front-rear direction, a drive unit 34 capable of rotating the reflection mirror 32 about the vertical axis, and a drive unit 35 rotatable about the left-right axis. And a drive unit 36 that can rotate the entire main HUD 30 about the left-right axis.

The sub-HUD 40 reflects the image information projected from the projector 41 (light projection means) that projects image information captured by the obstacle cameras 13 to 16 and the like toward the front window glass 2. A reflection mirror 42; a drive unit 43 capable of driving the projector 41 back and forth in the front-rear direction; a drive unit 44 capable of rotating the reflection mirror 42 about the vertical axis; a drive unit 45 rotatable about the left-right axis; A drive unit 46 that can rotate the entire HUD 40 about the left and right axes is provided.
The driving units 33 to 36 correspond to the optical path changing unit of the right main HUD 30, and the driving units 43 to 46 correspond to the optical path changing unit of the sub HUD 40.

Next, the ECU 50 will be described.
The ECU 50 includes a CPU (Central Processing Unit), a ROM, a RAM, an in-side interface, an out-side interface, and the like.
Various programs and data for display control are stored in the ROM, and a processing area used when the CPU performs a series of processes is provided in the RAM.

  As shown in FIG. 4, the ECU 50 includes a pair of left and right side rear cameras 11 and 12, obstacle cameras 13 to 16, white line camera 17, indoor cameras 18 a and 18 b, an ignition switch 61, and completion. A confirmation switch 62, a door lock sensor 63, an auxiliary view switch 64, an obstacle detection sensor 65, a command switch 66, a white line mode switch 67, a vehicle speed sensor 68, a shift position sensor 69, and a pair of left and right The main HUDs 20 and 30, the sub HUD 40, and the drive unit 7a are electrically connected.

The white line camera 17 detects a white line on the traveling lane and outputs a detection signal via the driving support device 9. In addition to the white line departure warning described above, the driving support device 9 determines whether or not there are one or more obstacles approaching the vehicle V based on the detection result of the obstacle detection sensor 65 and the direction in which these obstacles approach. In contrast, it is configured to be able to notify each individual obstacle.
The ignition switch 61 detects the ignition ON / OFF state of the vehicle V and outputs a detection signal.

The completion confirmation switch 62 is disposed on the steering wheel 5 and is turned on when an occupant sits in the driver's seat and takes the driving position, or when adjustment of the display position, focus, etc. of the main view v1 is completed. The The completion confirmation switch 62 is a momentary changeover switch that outputs an H (logic high) level signal to the ECU 50 only when it is turned on by an occupant, and otherwise outputs an L (logic low) level signal. It is constituted by.
The door lock sensor 63 detects a door lock state in which the passenger locks the door from the outside based on the operation of the portable terminal or the like by the passenger, and outputs a detection signal to the ECU 50.

The auxiliary view switch 64 is disposed on the steering wheel 5 and is turned on by the occupant when displaying the auxiliary views v4 and v5. The auxiliary view switch 64 is constituted by a momentary changeover switch that outputs an H level signal to the ECU 50 only when it is turned on by an occupant and outputs an L level signal at other times.
The obstacle detection sensor 65 is configured to be able to detect a plurality of obstacles approaching the vehicle V over the entire circumference of the vehicle V based on the separation distance from the obstacle, and directions in which the obstacles approach and those The speed of the obstacle is detected and a detection signal is output to the ECU 50.

The command switch 66 is configured to be able to operate a plurality of in-vehicle devices mounted on the vehicle V, and is configured to be able to select an obstacle (obstacle imaging information) to be displayed on the auxiliary views v4 and v5. The command switch 66 outputs camera determination information corresponding to the obstacle imaging information selected as a display target by the occupant in the cameras 13 to 16 that captured the obstacle.
The white line mode switch 67 is disposed on the steering wheel 5 and is turned on when the occupant switches from the normal mode to the white line mode. The white line mode switch 67 is constituted by a momentary changeover switch that outputs an H level signal to the ECU 50 only when it is turned on by an occupant and otherwise outputs an L level signal.
The vehicle speed sensor 68 detects the traveling speed of the vehicle V and outputs a detection signal to the ECU 50, and the shift position sensor 69 detects the shift position based on the operation position of the shift lever 8 by the occupant and outputs the detection signal to the ECU 50. doing.

  As shown in FIG. 4, the ECU 50 determines the mode determination unit 51 that determines the mode type (normal mode, white line mode, back mode) executed by the display device 1, and the distance between the virtual image formation position and the occupant's viewpoint. The calculated separation distance calculation unit 52 (separation distance calculation means), the display control unit 53 that controls the display positions and the like of the main views v1 to v3, and the auxiliary display control unit 54 that controls the display positions and the like of the auxiliary views v4 and v5. Etc.

The mode determination unit 51 will be described.
The mode determination unit 51 determines the white line mode when the white line mode switch 67 is turned on, and when the occupant's posture is backward and the shift position is in the reverse range based on the detection results of the indoor cameras 18a and 18b, the back mode Is judged.
The mode determination unit 51 determines the normal mode when neither the white line mode nor the back mode is selected. Note that when the occupant gets on the vehicle V and turns on the ignition switch 61, the display device 1 is in the standby state, and thus the normal mode is processed.

Next, the separation distance calculation unit 52 will be described.
The separation distance calculation unit 52 is displayed as the occupant's viewpoint based on the three-dimensional coordinates of the occupant's eyeball position detected by the indoor cameras 18a and 18b and the three-dimensional coordinates of each virtual image display position that forms a virtual image. The separation distance from v1 to v3 is calculated.
In the normal mode, the normal main view v1 is displayed at the normal virtual image display position P1 set near the left and right ends at the front end of the bonnet 10 (see FIG. 7). In the white line mode, the front main view v2 is displayed on the white line that is running. In the back mode, the rear main view v3 is displayed at the rear virtual image display position P3 set at the middle in the left-right direction at the rear end of the vehicle body (see FIG. 8). 9).

As shown in FIG. 5, in the normal mode, when the normal main view v1 is displayed at the normal virtual image display position P1, the distance LF from the occupant's viewpoint (eyeball position) to the normal virtual image display position P1 is the distance from the projector 21 to the reflection mirror. L1 is the distance from the reflecting mirror 22 to the front window glass 2, L3 is the distance from the front window glass 2 to the passenger's viewpoint, and L4 is the distance from the front window glass 2 to the normal virtual image display position P1. When the enlargement factor e1 of the reflection mirror 22 and the enlargement factor e2 of the front window glass 2 are given, they can be expressed as the following equation (1).
LF = L3 + L4
= L3 + (L1 × e1 + L2) × e2 (1)
When the three-dimensional coordinates of the eyeball in the state where the occupant is seated in the driver's seat and grips the steering wheel 5, that is, in the so-called driving ready state, the optical path distance from the projector 21 to the reflecting mirror 22 and the front window glass from the reflecting mirror 22 are found. By adjusting at least one of the optical path distances up to 2, the normal main view optical path of the normal main view v1 can be set. The left main HUD 20 has been described, but the same applies to the normal main view optical path of the right main HUD 30 and the normal auxiliary view optical path of the sub HUD 40.

  In the white line mode, when the front main view v2 is displayed at the front virtual image display position P2, the three-dimensional coordinates of the white line on the traveling lane are calculated based on the forward imaging information captured by the white line camera 17 and The front main view optical path of the front main view v2 is set in the same process as in the normal mode except that the front virtual image display position P2 is set so that the front main view v2 partially overlaps the white line of Yes.

As shown in FIG. 6, in the back mode, when the rear main view v3 is displayed at the rear virtual image display position P3, the distance LR from the occupant's viewpoint to the rear virtual image display position P3 is the distance from the projector 21 to the reflection mirror 22. L1, the distance from the reflection mirror 22 to the room mirror 7 is L5, the distance from the room mirror 7 to the rear window glass 3 is L6, the distance from the rear window glass 3 to the passenger's viewpoint is L7, and the virtual image from the rear window glass 3 When the distance to the imaging position is L8, the enlargement factor e1 of the reflection mirror 22, the enlargement factor e3 of the room mirror 7, and the enlargement factor e4 of the rear window glass 3, it can be expressed as the following equation (2).
LR = L7 + L8
= L7 + ((L1 × e1 + L5) × e3 + L6) × e4 (2)
When the viewpoint position when the occupant is ready for driving is found, the rear main view v3 is adjusted by adjusting at least one of the optical path distance from the projector 21 to the reflecting mirror 22 and the optical path distance from the reflecting mirror 22 to the room mirror 7. The rear main view optical path can be set.
The example in which the rear main view v3 is displayed by the left main HUD 20 has been described, but the same applies to the case in which the rear main view v3 is displayed by the right main HUD 30.
Similarly, when the rear auxiliary view v5 is displayed on one of the main HUDs 20 and 30, the rear auxiliary view optical path is similarly set.

Next, the display control unit 53 will be described.
The display control unit 53 controls the pair of main HUDs 20 and 30 so that the pair of main views v1 to v3 are displayed at the set virtual image display positions P1 to P3, respectively.
When the occupant turns on the completion confirmation switch 62, the display control unit 53 starts virtual image display control based on the mode determination, the ignition switch 61 is turned off, and the door lock sensor 63 detects the door lock state. When the virtual image display control is finished.
After the completion confirmation switch 62 is turned on, the display control unit 53 normally displays the normal main view v1 by the driving units 23 to 26, 33 to 36, and the like based on the separation distance LF between the occupant's viewpoint and the normal virtual image display position P1. A normal main view optical path for displaying at the virtual image display position P1 is set.
The normal main view optical path is set such that the lower corners in the vehicle width direction on the lower side of the pair of normal main views v1 substantially coincide with the left and right ends at the front end of the bonnet 10 that can be visually recognized by the occupant. Accordingly, as shown in FIGS. 3 and 7, the outer end in the vehicle width direction of the normal main view v <b> 1 is arranged so as to be substantially continuous vertically with the outer end in the vehicle width direction of the vehicle V.

As shown in FIG. 7, the left-side normal main view v1 displays a following vehicle and a sidewalk, and the right-side normal main view v1 displays a traveling lane adjacent to the following vehicle.
In the normal mode, the display control unit 53 displays the pair of normal main views v1 when the occupant's viewing angle width is smaller than the left and right widths of the front end of the bonnet 10 based on the correlation between the vehicle speed and the occupant's viewing angle. The normal main-view optical path is corrected so that the lower vehicle width direction outer corner portion substantially coincides with the vehicle width direction outer end portion of the viewing angle width. Here, the viewing angle width is the width in the left-right direction that is visible to the occupant at the front end position of the bonnet 10 at a predetermined vehicle speed.
Thus, the occupant can visually recognize the left and right rear imaging information through the normal main view v1 regardless of the vehicle speed, and can recognize the sense of vehicle width.
Further, when the normal auxiliary view v4 is displayed during execution of the normal mode, the size (size) of the normal main view v1 on the side where the normal auxiliary view v4 is displayed is smaller than the size when the normal auxiliary view v4 is not displayed. Is displayed. This relatively increases the level of occupant's gaze on the displayed normal auxiliary view v4.

As shown in FIG. 8, traveling lanes adjacent to the traveling lane of the following vehicle and the vehicle V are displayed in the pair of left and right front main views v2.
In the white line mode, the display control unit 53 displays each front main view v2 in front of the front end of the bonnet 10, and the occupant corresponding to the lower end of the white line (virtual image) displayed in each front main view v2. Is substantially coincident with the white line on the traveling lane that is visible. The display control unit 53 obtains the three-dimensional coordinates in the vehicle coordinate system of the white line on the traveling lane based on the imaging information of the white line camera 17, and the traveling vehicle to which the lower end of the white line displayed in the front main view v2 corresponds respectively. The front main view optical path is set so as to substantially match the white line on the line.
Thereby, the passenger | crew can recognize that the vehicle V is drive | working the appropriate course.
Further, the front main view light path is corrected so that each front main view v2 shifts forward as the vehicle speed increases. The movable range of the forward / backward movement of the front main view v2 is based on the influence of the vehicle speed and the viewing angle, up to the distance corresponding to the size of the image that can be recognized sufficiently with binocular visual acuity 0.7 (license standard) from the left and right ends. It can be changed according to the vehicle speed.
When the white line camera 17 cannot detect the white line on the travel lane during the white line mode, the display control unit 53 sets the normal main view optical path. When the normal main view optical path is set, processing similar to that in the normal mode is performed.

As shown in FIG. 9, in the rear main view v3, a captured image in the traveling direction when the reverse range is selected is displayed, and a predicted movement locus (broken line) of the vehicle V is displayed.
In the back mode, the display control unit 53 uses a virtual image of the obstacle information (rear main image) captured by the rear obstacle camera 14 using one of the main HUDs 20 and 30 that display the normal imaging information of the left and right side rear cameras 11 and 12. The view v3) is displayed at the rear virtual image display position P3. The display control unit 53 starts executing the back mode process when the rearward posture of the occupant is detected by the indoor camera 18b and the reverse range is detected by the shift position sensor 69. The display control unit 53 operates the drive units 7a, 23 to 26, based on the separation distance LR between the viewpoint of the rearward occupant imaged by the indoor camera 18b and the rear virtual image display position P3 after the reverse range operation of the shift lever 8. The rear main view optical path for displaying the rear main view v3 at the rear virtual image display position P3 is set by 33 to 36 and the like.

Next, the auxiliary display control unit 54 will be described.
The auxiliary display control unit 54 controls the pair of main HUDs 20 and 30 and the sub HUD 40 so as to display other vehicles approaching the vehicle V and obstacles such as curbs on the auxiliary views v4 and v5.
The auxiliary view v4 is displayed by the secondary HUD 40 during the normal mode and the white line mode, and the auxiliary view v5 is the main HUD 30 (close to the obstacle) on the side closer to the obstacle (close to the obstacle) of the main HUDs 20 and 30 during the back mode. 20). Therefore, the main HUD 20 (30) on the side far from the obstacle displays the rear main view v3.

When the obstacle detection sensor 65 detects a single obstacle approaching the vehicle V, the auxiliary display control unit 54 detects the obstacle in any of the auxiliary views v4 and v5 so as to suit the mode to be executed. Display. When a plurality of obstacles approaching the vehicle V are detected and the driving support device 9 notifies the detected plurality of obstacles, the auxiliary display control unit 54 switches the auxiliary view v4 or v5 to the auxiliary view v4 or v5 by using the command switch 66. The obstacle selected as the display target is displayed.
When a single obstacle is notified, the notified obstacle is displayed.
The auxiliary display control unit 54 sets the color and brightness of the outer frames of the auxiliary views v4 and v5 so that the colors and the luminance are higher than those of the outer frames of the main views v1 to v3.
Furthermore, the auxiliary display control unit 54 sets the outer frames of the auxiliary views v4 and v5 to be darker and have higher luminance as the obstacle selected as the display target is closer to the vehicle V.

As shown in FIG. 7, the auxiliary view v <b> 4 displays a top view in which a subsequent vehicle traveling in the adjacent traveling lane of the vehicle V approaches the vehicle V.
In the normal mode, the auxiliary display control unit 54 positions the auxiliary view v4 in the vicinity of the normal main view v1 on the side close to the obstacle (close to the obstacle), specifically below the normal main view v1 on the side close to the obstacle. The normal auxiliary view optical path is set so as to be displayed in the vicinity of the side and at the rear side position from the front end of the bonnet 10.
In the white line mode, the auxiliary display control unit 54 sets the normal auxiliary view optical path so that the auxiliary view v4 is displayed on the front main view v2 side closer to the obstacle and on the rear side of the front end of the bonnet 10. ing.
As shown in FIG. 9, in the back mode, the auxiliary display control unit 54 determines that the left rear auxiliary view v5 is in the vicinity of the rear main view v3 and the vehicle V has an obstacle on one side in the left-right direction. The rear auxiliary view optical path is set so as to be displayed on the same left and right side.

Next, a display control processing procedure will be described based on the flowcharts of FIGS. Si (i = 1, 2,...) Indicates a step for each process.
As shown in the flowchart of FIG. 10, in the display control process, first, in S1, information such as detection values of various sensors and imaging information captured by each camera is read, and the process proceeds to S2.
In S2, it is determined whether or not the ignition switch 61 is turned on.
If the ignition switch 61 is turned on as a result of the determination in S2, the process proceeds to S3, and the pair of left and right main HUDs 20 and 30 are activated.
If the ignition switch 61 is not turned on as a result of the determination in S2, the process waits until the ignition switch 61 is turned on.

In S4, it is determined whether or not the completion confirmation switch 62 is turned on by the passenger. This is to determine whether the occupant is in a driving posture.
If the completion confirmation switch 62 is turned on as a result of the determination in S4, since the occupant is in the driving posture, the separation distance LF to the normal virtual image display position P1 is calculated based on the three-dimensional coordinates of the occupant's viewpoint (S5). ) After setting the normal main view optical path (S6), the process proceeds to S7.
If the completion confirmation switch 62 is not turned on as a result of the determination in S4, the process waits until it is turned on.

In S7, it is determined whether or not the completion confirmation switch 62 is turned on. This is to determine whether or not the normal main view v1 is properly displayed.
As a result of the determination in S7, when the completion confirmation switch 62 is turned on, the normal main view v1 is properly displayed, so that the process proceeds to S8 and a mode determination process is performed.
If the result of the determination in S7 is that the completion confirmation switch 62 has not been turned on, manual adjustment is performed by the adjuster (S18), and the process returns to S7 to determine again.

In S9, it is determined whether or not the back mode is determined.
If the back mode is determined as a result of the determination in S9, back mode processing is performed (S10), and the process proceeds to S11.
As a result of the determination in S9, if the back mode is not determined, the process proceeds to S15 to determine whether the white line mode is determined.
If the white line mode is determined as a result of the determination in S15, white line mode processing is performed (S16), and the process proceeds to S11.
As a result of the determination in S15, when the white line mode is not determined, normal mode processing is performed (S17), and the process proceeds to S11.

In S11, it is determined whether or not the ignition switch 61 is turned off.
If the ignition switch 61 is turned off as a result of the determination in S11, the process proceeds to S12, where it is determined whether or not the lock is applied from the outside based on the detection value of the door lock sensor 63.
As a result of the determination in S12, when the lock is applied from the outside, the pair of left and right main HUDs 20 and 30 are stopped (S13), and the process ends.

As a result of the determination in S12, if the lock is not applied from the outside, the process proceeds to S14, and it is determined whether or not a certain time has elapsed since the ignition switch 61 was turned off.
As a result of the determination in S14, when a certain time has elapsed since the ignition switch 61 was turned off, the process proceeds to S13, and when the certain time has not elapsed, the process proceeds to S8.
As a result of the determination in S11, when the ignition switch 61 is not turned off, the process proceeds to S8.

Next, the mode determination process (S8) will be described.
As shown in the flowchart of FIG. 11, first, in S21, it is determined whether or not the auxiliary view switch 64 is turned on.
If the auxiliary view switch 64 is turned on as a result of the determination in S21, the sub HUD 40 is activated (S22), and the process proceeds to S23.
If the result of determination in S21 is that the auxiliary view switch 64 has not been turned on, the sub-HUD 40 is stopped (S29) and the process proceeds to S23.

In S23, it is determined whether the occupant is in a backward posture.
As a result of the determination in S23, if the occupant is in a backward posture, the process proceeds to S24, and it is determined whether or not the shift position is in the reverse range.
If the reverse range is selected as a result of the determination in S24, the back mode is determined (S25) and the process ends.

As a result of the determination in S23, if the occupant is not in a backward posture, or if the reverse range is not selected as a result of the determination in S24, the process proceeds to S26, and it is determined whether or not the white line mode switch 67 is turned on.
If the white line mode switch 67 is turned on as a result of the determination in S26, the white line mode is determined (S27) and the process ends.
If the white line mode switch 67 is not turned on as a result of the determination in S26, the normal mode is determined (S28), and the process ends.

Next, the back mode process (S10) will be described.
As shown in the flowchart of FIG. 12, first, in S31, the tilt angle of the rearview mirror 7 is adjusted by the drive unit 7a based on the separation distance LR, and the process proceeds to S32.
In S32, it is determined whether or not one or more obstacles approaching the vehicle V exist.
If there is an obstacle approaching the vehicle V as a result of the determination in S32, the process proceeds to S33 to determine whether or not the auxiliary view switch 64 is turned on.

If the auxiliary view switch 64 is turned on as a result of the determination in S33, the process proceeds to S34, and an obstacle to be displayed is determined.
In S34, when there are a plurality of obstacles, the obstacle selected by the command switch 66 is determined as an obstacle to be displayed.
In S35, the rear main view optical path and the rear auxiliary view optical path are set based on the three-dimensional coordinates of the occupant's viewpoint, and the process proceeds to S36.
Next, the rear main view v3 is displayed (S36), the rear auxiliary view v5 is displayed (S37), and the process proceeds to S38.

In S38, it is determined whether the occupant is in a backward posture.
As a result of the determination in S38, if the occupant is in the backward posture, the process returns to S32, and if the occupant is not in the backward posture, the process ends.
If there is no obstacle approaching the vehicle V as a result of the determination in S32, and if the auxiliary view switch 64 is not turned on as a result of the determination in S33, the rear main view optical path is set (S39). After the rear main view v3 is displayed (S40), the process proceeds to S38.

Next, the white line mode process (S16) will be described.
As shown in the flowchart of FIG. 13, first, in S41, it is determined whether or not the auxiliary view switch 64 is turned on.
If the auxiliary view switch 64 is turned on as a result of the determination in S41, the process proceeds to S42, where it is determined whether or not there are one or more obstacles approaching the vehicle V.
If there is an obstacle approaching the vehicle V as a result of the determination in S42, the process proceeds to S43, and the obstacle to be displayed is determined. When there are a plurality of obstacles, the obstacle selected by the command switch 66 is determined as an obstacle to be displayed.
Next, in S44, the normal auxiliary view optical path is set, and the normal auxiliary view v4 is displayed at a position behind the front end of the hood 10 on the side where the obstacle is present (S45), and then the process proceeds to S46.

In S46, it is determined whether a white line is detected on the traveling lane.
As a result of the determination in S46, when a white line is detected on the traveling lane, the front main view optical path is set (S47), and the lower end of the white line displayed in the front main view v2 corresponds to the white line on the traveling lane. As the vehicle speed substantially increases and the vehicle speed increases, the front main view v2 that moves forward is displayed (S48), and the process ends.

As a result of the determination in S46, when a white line is not detected on the traveling lane, the process proceeds to S49, and it is determined whether or not the correction of the normal main view optical path is necessary when setting the normal main view optical path.
Here, the normal main view optical path correction means that when the occupant's viewing angle width is smaller than the left and right widths of the front end of the bonnet 10, the outer corner in the vehicle width direction on the lower side of the normal main view v1 is set to the viewing angle width. The correction is made to coincide with the outer end in the vehicle width direction, and when the normal auxiliary view v4 is displayed, the size of the normal main view v1 on the side where the normal auxiliary view v4 is displayed is not displayed. The correction is made to be smaller than the size.
If the normal main view optical path needs to be corrected as a result of the determination in S49, the normal main view optical path is corrected (S50), the normal main view v1 is displayed (S51), and the process ends.
If the result of determination in S49 is that correction of the normal main view optical path is not necessary, the process proceeds to S51 without correcting the normal main view optical path.

Next, the normal mode process (S17) will be described.
As shown in the flowchart of FIG. 14, first, in S <b> 61, it is determined whether or not the passenger's viewing angle width is smaller than the left and right width of the front end of the bonnet 10.
As a result of the determination in S61, if the occupant's viewing angle width is smaller than the left and right width of the front end of the bonnet 10, the process proceeds to S62, and the left and right positions of the normal main view optical path are the viewing angle width of the pair of normal main views. Correct as follows.
Next, in S63, it is determined whether or not the auxiliary view switch 64 is turned on.

If the auxiliary view switch 64 is turned on as a result of the determination in S63, the process proceeds to S64 to determine whether one or more obstacles approaching the vehicle V are present.
If there is an obstacle approaching the vehicle V as a result of the determination in S64, the process proceeds to S65, and the obstacle to be displayed is determined. When there are a plurality of obstacles, the obstacle selected by the command switch 66 is determined as an obstacle to be displayed.
Next, in S66, the normal auxiliary view optical path is set, and the normal auxiliary view v4 is displayed at a position behind the front end of the bonnet 10 on the side where the obstacle exists (S67), and then the process proceeds to S68.

In S68, the normal main view optical path is corrected so that the size of the normal main view v1 on the side where the normal auxiliary view v4 is displayed is smaller than the size when the normal auxiliary view v4 is not displayed. After displaying (S69), the process ends.
If the auxiliary view switch 64 is not turned on as a result of the determination in S63, or if there is no obstacle approaching the vehicle V as a result of the determination in S64, the setting of the normal auxiliary view optical path and the normal main view are performed. The process proceeds to S69 without changing the size of v1.
As a result of the determination in S61, if the occupant's viewing angle width is not smaller than the left-right width of the front end of the bonnet 10, the process proceeds to S63 without changing the left-right position of the normal main view optical path.

Next, functions and effects of the vehicle display device 1 according to the present embodiment will be described.
In the display device 1 of the vehicle V, the ECU 50 is positioned at the front main view v2 (virtual image of imaging information behind the side portion) in the vicinity of the front end of the bonnet 10 and at least partially overlaps the white line of the lane in which the host vehicle travels. Thus, the occupant can recognize the white line of the traveling lane and the white line of the side rear information without accompanying the movement of the line of sight. Thereby, the shift | offset | difference of lanes in a front driving lane and side back information is eliminated, and side back information can be read without a sense of incongruity.

  The ECU 50 displays the rear end portion (occupant side end portion) of the white line displayed in the front main view v2 so that it coincides with the white line of the lane that is actually viewed by the occupant. The position can be easily recognized.

  The ECU 50 has a vehicle speed sensor 68 that can detect the vehicle speed of the vehicle V, and the ECU 50 displays the front main view v2 so as to be separated from the passenger forward as the vehicle speed increases. Back information can be easily recognized.

  A pair of left and right side rear cameras 11 and 12 and a pair of left and right main HUDs 20 and 30 are provided, and each pair of main HUDs 20 and 30 includes a pair of laser projectors 21 and 31 having different optical paths and an instrument. In the ment panel 4, a pair of main HUDs 20 and 30 that can independently control the optical path without affecting other devices are disposed because they are disposed from the center in the vehicle width direction to the driver's seat side. Can do.

  The ECU 50 includes a white line camera 17 that can image the front of the vehicle body including the white line of the lane in which the vehicle V travels, and a driving support device 9 that supports driving of the occupant based on the forward imaging information captured by the white line camera 17. The display position of the front main view v2 is set to the front virtual image display position P2 in order to set the display position of the front main view v2 so that at least a part of the white line of the lane in which the vehicle V travels overlaps based on the front imaging information. Can be set to

Next, a modified example in which the embodiment is partially changed will be described.
1] In the above-described embodiment, an example in which the present invention is applied to a side mirrorless automobile that does not include a side mirror such as a fender mirror or a door mirror has been described, but the present invention may be applied to a vehicle that includes a side mirror. In particular, even if a door mirror is provided, the vehicle width sensation of the host vehicle can be obtained intuitively, and even if a fender mirror is provided, the side rear information of the vehicle can be recognized without moving the line of sight. it can.

2) In the above embodiment, the example in which the display position of the front main view is set so that the lower end of the white line in the front main view coincides with the white line of the lane visually recognized by the occupant has been described. May be partially overlapped with the white line of the lane visually recognized by the occupant, and the lower end of the white line in the front main view may be arranged in the vicinity of the white line of the lane visually recognized by the occupant.

3) In the above embodiment, the obstacle imaging information of the obstacle camera is displayed in the auxiliary view independent of the main view. However, in addition to the obstacle camera, the imaging information of the side rear camera is supplemented. It may be displayed in the view. Specifically, when an obstacle to be displayed is imaged on at least one of the side rear cameras, an occupant-side region (a region behind the hood front end) of the normal main view that images the obstacle is displayed. Enlarge and display the main view and auxiliary view together.

4) In the above-described embodiment, an example has been described in which ignition off and external locking or a certain period of time have been set as the main HUD stop conditions. However, at least one of the seat sensor OFF signal and the indoor camera absence confirmation signal is included in these conditions. You may add one. Thereby, it is possible to reliably detect the passenger getting off.

5) In the above embodiment, the example in which the color and brightness of the outer frame of the auxiliary view is different from the color and brightness of the outer frame of the main view has been described. However, when the obstacle approaches within the threshold, The outer frame may blink. Further, in order to alert the occupant's attention level, it may be used in combination with a driving assistance device warning.

6] In the above embodiment, the example of controlling the color and brightness of the outer frame of the auxiliary view has been described. However, the color and brightness of the outer frame of the main view may be controlled. Specifically, the outer frame of the main view on the side where the blinker lamp blinks can be blinked when the vehicle turns right or left.

7] In the above embodiment, the example in which the front main view v2 shifts forward without notice as the vehicle speed increases in the white line mode has been described. However, as shown in FIG. The range may be displayed in advance as a pair of left and right movable range virtual images G.

8] In the above embodiment, the example in which the left rear auxiliary view v5 is displayed in the back mode has been described. However, as shown in FIG. 16A, the top view of the moving vehicle in the auxiliary view v5 is displayed. You may display. Further, as shown in FIG. 16B, it is possible to display a side view obtained by imaging a side curb or the like in the auxiliary view v5.

9] In addition, those skilled in the art can implement the present invention with various modifications added without departing from the spirit of the present invention, and the present invention includes such modifications. is there.

V Vehicle 1 Display device 2 Front window glass 9 Driving support device 10 Bonnets 11 and 12 Left and right rear cameras 17 White line cameras 20 and 30 Main HUD
21, 31 Projectors 22, 32 Reflection mirrors 23-26, drive units 33-36
50 ECU
68 Vehicle speed sensor P2 Front virtual image display position v2 Front main view

Claims (5)

Imaging means capable of imaging the rear from both sides in the vehicle width direction, light projection means capable of projecting imaging information captured by the imaging means onto the reflecting means, and forming a virtual image in front of the occupant, and an optical path of the imaging information And an optical device that includes an optical path changing unit capable of adjusting the virtual image forming position by changing
Control means capable of controlling the light projection means and the optical path changing means of the optical device,
When the occupant seated in the driver's seat visually recognizes the front in the traveling direction , the control means is positioned near the front end of the vehicle body, and at least a part of the lane line and at least a part of the lane in which the host vehicle is a real image travels. A display device for a vehicle, characterized by being displayed so as to overlap.   The said control means is displayed so that the passenger | crew side edge part of the lane marking displayed in the virtual image of the said imaging information may adjoin or correspond with the lane marking of the lane which the own vehicle is running. The vehicle display device according to 1. Having vehicle speed detection means capable of detecting the vehicle speed of the host vehicle,
3. The vehicle display device according to claim 1, wherein the control unit displays the virtual image of the imaging information so as to be separated from the occupant forward as the vehicle speed increases. 4. A pair of left and right imaging means and a pair of left and right optical devices;
The pair of optical devices includes a pair of laser-type light projection means having different optical paths, and is disposed from the center in the vehicle width direction to the driver seat side in the instrument panel .
The control means displays a virtual image of imaging information captured by the imaging means on the left and right side by the optical device on the left and right side and displays a virtual image of imaging information captured by the imaging means on the left and right side on the left and right sides. The vehicle display device according to claim 1 , wherein the display is performed by the optical device. Forward imaging means capable of imaging the front of the vehicle body including at least the lane marking of the lane in which the host vehicle travels;
Driving support means for supporting driving of the occupant based on the forward imaging information imaged by the front imaging means,
5. The virtual image display position of the imaging information is set so that the control means overlaps at least partly with a lane marking of a lane in which the host vehicle travels based on the front imaging information. The vehicle display device according to any one of the preceding claims.