JP6883759B2 - Display systems, display system control methods, programs, and mobiles - Google Patents

Description

The present disclosure relates generally to a display system, a control method for Viewing system, program, and to a moving body, and more particularly, a display system for projecting a virtual image in the target space, a control method for Viewing system, a program, and a mobile ..

Conventionally, as a display device (display system) for a vehicle, a head-up display device for a vehicle that displays a driving information image necessary for driving as a phantom image at a distance through a windshield is known (for example, Patent Document 1). reference).

The display device described in Patent Document 1 includes a screen on which an image is drawn. The image formed on the screen is reflected by the windshield of the vehicle via the projection means and reaches the driver's eyes, so that the driver's eyes can see a virtual image far beyond the windshield. ..

Japanese Unexamined Patent Publication No. 2009-150947

By the way, in the projection direction of the virtual image (in front of the moving body), there is a shield such as a person or an automobile. In this case, the display device (display system) of Patent Document 1 superimposes the virtual image on the shield when the shield is present when projecting the virtual image. Therefore, the driver (target person) may get a sense of discomfort due to the virtual image overlapping the existing shield.

The present disclosure has been made in view of the above circumstances, the display system that can reduce the likelihood that a subject by a virtual image overlaps the shield that real get an uncomfortable feeling, control method for Viewing system, program, and move The purpose is to provide the body.

The display system according to one aspect of the present disclosure includes a control unit. The control unit controls the display of the virtual image projected on the target space so that the user can visually recognize the virtual image. When the control unit has a shield in the projection direction of the virtual image and the distance to the shield is less than or equal to the viewing distance to the virtual image, the control unit has a non-overlapping portion of the virtual image that does not overlap with the shield. The display mode is not changed, but the display mode of the overlapping portion overlapping the shield and continuous with the non-overlapping portion in the virtual image is changed. When the distance to the shield is less than or equal to the viewing distance to the virtual image and the distance to the shield is greater than or equal to a certain distance, the control unit does not change the display mode of the overlapping portion.

The display system control method according to one aspect of the present disclosure is a display system control method including a control step for controlling the display of the virtual image projected on the target space so that the user can visually recognize the virtual image. In the control step, when a shield exists in the projection direction of the virtual image and the distance to the shield is equal to or less than the viewing distance to the virtual image, the non-overlapping portion of the virtual image that does not overlap with the shield. The display mode is not changed, but the display mode of the overlapping portion overlapping the shield and continuous with the non-overlapping portion in the virtual image is changed. In the control step, when the distance to the shield is less than or equal to the viewing distance to the virtual image and the distance to the shield is greater than or equal to a certain distance, the display mode of the overlapping portion is not changed.

A program according to one aspect of the present disclosure, the computer is a program for executing a control method of the display system.

The moving body according to one aspect of the present disclosure has the display system, a projection unit for projecting the virtual image on the target space, and light transmission, and reflects the light emitted by the projection unit to obtain the above. It is provided with a reflective member that allows the subject to visually recognize the virtual image.

According to the present disclosure, it is possible to reduce the possibility that the subject feels uncomfortable due to the virtual image overlapping the shield.

FIG. 1 is a conceptual diagram of an automobile provided with a display system according to an embodiment. FIG. 2 is a conceptual diagram showing a user's field of view when the same display system is used. FIG. 3 is a conceptual diagram showing the configuration of the same display system. FIG. 4 is a flow chart for explaining the operation of the display system of the above. 5A and 5B are conceptual diagrams showing an example when the first virtual image is projected. 5C and 5D are conceptual diagrams showing an example of a case where the projected first virtual image overlaps with the shield. FIG. 6A is a conceptual diagram showing an example in which a part of the display mode is changed when the first virtual image overlaps with the shield. FIG. 6B is a conceptual diagram showing an example of displaying the first virtual image when the distance to the shield is a certain value or more. FIG. 7 is a conceptual diagram for explaining a change in the display mode in the first modification. 8A and 8B are conceptual diagrams for explaining the change in the display mode in the second modification. 9A and 9B are conceptual diagrams for explaining the change in the display mode in the modified example 3. 10A and 10B are conceptual diagrams for explaining the change in the display mode in the modified example 4. 11A and 11B are conceptual diagrams for explaining the change in the display mode in the modified example 4. 12A and 12B are conceptual diagrams for explaining the change in the display mode in the modified example 4. 13A and 13B are conceptual diagrams for explaining another change in the display mode in the modified example 4. 14A and 14B are conceptual diagrams for explaining the change in the display mode in the modified example 5. 15A and 15B are conceptual diagrams for explaining the change of the display mode in the modified example 6. 16A to 16E are conceptual diagrams for explaining the change of the display mode in the modified example 7. FIG. 17 is a flow chart for explaining the operation of the display system in the modified example 8. 18A and 18B are conceptual diagrams for explaining the change in the display mode in the modified example 8.

Each embodiment and modification described below is merely an example of the present invention, and the present invention is not limited to the embodiment and modification. Even if it is not the embodiment and the modified example, various changes can be made according to the design and the like as long as it does not deviate from the technical idea of the present invention.

(Embodiment)
(1) Overview As shown in FIG. 1, the display system 10 of the present embodiment is, for example, a head-up display (HUD) used in an automobile 100 as a moving body.

The display system 10 is installed in the vehicle interior of the automobile 100 so as to project an image from below onto the windshield 101 of the automobile 100. In the example of FIG. 1, the display system 10 is arranged in the dashboard 102 below the windshield 101. When an image is projected from the display system 10 onto the windshield 101, the image reflected by the windshield 101 as a reflecting member is visually recognized by the user 200 (driver).

According to such a display system 10, the user 200 visually recognizes the virtual image 300 projected on the target space 400 set in front of the automobile 100 (outside the vehicle) through the windshield 101. The "imaginary image" as used herein means an image in which when the light emitted from the display system 10 is diverged by a reflecting object such as the windshield 101, the diverging light rays actually form an object. The windshield 101 has light transmission property, and the user 200 who is the target person can see the target space 400 in front of the automobile 100 through the windshield 101. Therefore, the user 200 can see the virtual image 300 projected by the display system 10 by superimposing it on the real space spreading in front of the automobile 100. Therefore, according to the display system 10, various driving support information such as vehicle speed information, navigation information, pedestrian information, vehicle ahead vehicle information, lane departure information, and vehicle condition information are displayed as a virtual image 300, and the user. It can be visually recognized by 200. As a result, the user 200 can visually acquire the driving support information with only a slight movement of the line of sight from the state in which the line of sight is directed to the front of the windshield 101.

In the display system 10 of the present embodiment, the virtual image 300 formed in the target space 400 includes at least two types of virtual images, a first virtual image 301 and a second virtual image 302. The "first virtual image" referred to here is a virtual image 300 (301) formed on the first virtual surface 501. The “first virtual surface” is a virtual surface in which the inclination angle α of the display system 10 with respect to the optical axis 500 is smaller than a predetermined value γ (α <γ). Further, the "second virtual image" referred to here is a virtual image 300 (302) formed on the second virtual surface 502. The “second virtual surface” is a virtual surface in which the inclination angle β of the display system 10 with respect to the optical axis 500 is larger than a predetermined value γ (β> γ). The "optical axis" here means the optical axis of the optical system of the projection optical system 4 (see FIG. 3), which will be described later, and is the axis that passes through the center of the target space 400 and along the optical path of the virtual image 300. The predetermined value γ is 45 degrees as an example, and the tilt angle β is 90 degrees as an example.

Further, in the display system 10 of the present embodiment, the virtual image 300 formed in the target space 400 includes a third virtual image 303 (see FIG. 2) in addition to the first virtual image 301 and the second virtual image 302. The "third virtual image" is a virtual image 300 (303) formed on the second virtual surface 502 in which the inclination angle β with respect to the optical axis 500 is larger than the predetermined value γ, similarly to the second virtual image 302. As will be described in detail later, among the virtual images 300 formed on the second virtual surface 502, the virtual image formed by the light transmitted through the movable screen 1a is the second virtual image 302, which is formed by the light transmitted through the fixed screen 1b. The virtual image formed is the third virtual image 303.

In the present embodiment, the optical axis 500 is along the road surface 600 in front of the automobile 100 in the target space 400 in front of the automobile 100. The first virtual image 301 is formed on the first virtual surface 501 substantially parallel to the road surface 600, and the second virtual image 302 and the third virtual image 303 are formed on the second virtual surface 502 substantially perpendicular to the road surface 600. It is formed. For example, when the road surface 600 is a horizontal plane, the first virtual image 301 is displayed along the horizontal plane, and the second virtual image 302 and the third virtual image 303 are displayed along the vertical plane.

FIG. 2 is a conceptual diagram showing the field of view of the user 200. That is, according to the display system 10 of the present embodiment, as shown in FIG. 2, the first virtual image 301 that is visually recognized with a depth along the road surface 600 and the first virtual image 301 that is visually recognized upright on the road surface 600 at a certain distance from the user 200. The second virtual image 302 and the third virtual image 303 to be displayed can be displayed. Therefore, to the user 200, the first virtual image 301 appears to be on a plane substantially parallel to the road surface 600, and the second virtual image 302 and the third virtual image 303 are on a plane substantially perpendicular to the road surface 600. looks like. As an example, the first virtual image 301 is information indicating the traveling direction of the automobile 100 as navigation information, and it is possible to present an arrow indicating a right turn or a left turn on the road surface 600. The second virtual image 302 is, for example, information indicating the distance to the vehicle in front or a pedestrian, and it is possible to present the distance to the vehicle in front (distance between vehicles) on the vehicle in front. The third imaginary image 303 is, for example, current time, vehicle speed information, and vehicle condition information, and it is possible to present such information with, for example, characters, numbers, and symbols, or a meter such as a fuel gauge. ..

Further, the display system 10 constitutes the information presentation system 1000 in combination with the detection system 7. For example, the detection system 7 includes an image pickup device 71 and a laser radar 72, as shown in FIG.

The image pickup apparatus 71 has a camera and is provided so as to capture the projection direction of the virtual image 300. The laser radar 72 is provided so as to detect an object (shield) existing in the projection direction of the virtual image 300. Here, the projection direction is the direction in which the user 200 sees the virtual image 300.

The detection system 7 detects whether or not there is an obstacle such as an automobile or a person in the projection direction based on the image taken by the image pickup apparatus 71 and the detection result by the laser radar 72. When the shield is present, the detection system 7 obtains the distance from the automobile 100 to the shield based on the detection result by the laser radar 72. Specifically, the laser radar 72 irradiates the target space 400 with a pulsed laser beam and receives the reflected light reflected by an object in the target space. The laser radar 72 calculates the distance to the object based on the time from irradiating the laser beam to receiving the reflected light.

Further, the detection system 7 recognizes a shield existing in the target space from an image taken by the image pickup apparatus 71 by using, for example, a learning model generated by a machine learning algorithm.

The detection system 7 notifies the display system 10 of the detection result information including the detection result of the presence / absence of the shield and the distance to the shield if the shield exists.

Further, the detection system 7 obtains the current position of the automobile 100 using GPS (Global Positioning System), and acquires map information around the current position based on the current position of the automobile 100. The detection system 7 may acquire the map information around the current position of the automobile 100 from the memory in which the map information is stored in advance, or by communicating with an external server, the area around the current position of the automobile 100 may be acquired. Map information may be acquired. Here, the position information is, for example, information on the road at the current position of the automobile 100, such as the number of lanes on the road, the width of the road, the presence or absence of sidewalks, the slope, and the curvature of the curve.

Further, the detection system 7 acquires vehicle information indicating the state of the automobile 100 from an advanced driver assistance system (ADAS) or the like. The vehicle information includes, for example, the traveling speed (vehicle speed) of the automobile 100, the acceleration, the accelerator opening degree, the degree of depression of the brake pedal, and the like. The image pickup device 71 and the laser radar 72 may be shared with the ADAS.

(2) Configuration As shown in FIG. 3, the display system 10 of the present embodiment acquires a plurality of screens 1a and 1b, a drive unit 2, an irradiation unit 3, a projection optical system 4, and a control unit 5. It is provided with a part 6. In the present embodiment, the projection optical system 4, together with the irradiation unit 3, constitutes a projection unit 40 that projects a virtual image 300 (see FIG. 1) onto the target space 400 (see FIG. 1).

The plurality of screens 1a and 1b include a fixed screen 1b and a movable screen 1a. The fixed screen 1b is fixed at a fixed position with respect to the housing or the like of the display system 10. The movable screen 1a is inclined by an angle θ with respect to the reference surface 503. Further, the movable screen 1a is configured to be movable in the moving direction X orthogonal to the reference plane 503. The "reference plane" referred to here is a virtual plane that defines the moving direction of the movable screen 1a, and is not an actual plane. The movable screen 1a is configured to be able to move straight in the moving direction X (directions indicated by arrows X1-X2 in FIG. 3) while maintaining a posture inclined by an angle θ with respect to the reference surface 503. Hereinafter, when the movable screen 1a and the fixed screen 1b are not particularly distinguished, each of the plurality of screens 1a and 1b may be referred to as "screen 1".

The screen 1 (each of the movable screen 1a and the fixed screen 1b) has translucency and forms an image for forming a virtual image 300 (see FIG. 1) in the target space 400 (see FIG. 1). That is, an image is drawn on the screen 1 by the light from the irradiation unit 3, and the virtual image 300 is formed in the target space 400 by the light transmitted through the screen 1. The screen 1 has, for example, a light diffusing and is made of a rectangular plate-shaped member. The screen 1 is arranged between the irradiation unit 3 and the projection optical system 4.

The drive unit 2 moves the movable screen 1a in the moving direction X. Here, the drive unit 2 can move the movable screen 1a in both the direction toward the projection optical system 4 and the direction away from the projection optical system 4 along the movement direction X. The drive unit 2 is composed of, for example, an electrically driven actuator such as a voice coil motor, and operates according to a first control signal from the control unit 5.

The irradiation unit 3 is a scanning type light irradiation unit, and irradiates the movable screen 1a or the fixed screen 1b with light. The irradiation unit 3 has a light source 31 and a scanning unit 32. In the irradiation unit 3, each of the light source 31 and the scanning unit 32 operates according to the second control signal from the control unit 5.

The light source 31 includes a laser module that outputs laser light. The light source 31 includes a red laser diode that outputs a red (R) laser beam, a green laser diode that outputs a green (G) laser beam, and a blue laser diode that outputs a blue (B) laser beam. Includes. The three-color laser beams output from these three types of laser diodes are combined by, for example, a dichroic mirror and incident on the scanning unit 32.

By scanning the light from the light source 31, the scanning unit 32 irradiates the movable screen 1a or the fixed screen 1b with the light scanning on one surface of the movable screen 1a or the fixed screen 1b. Here, the scanning unit 32 performs Raster Scan, which scans light two-dimensionally on one surface of the movable screen 1a or the fixed screen 1b.

In the projection optical system 4, the light output from the irradiation unit 3 and transmitted through the screen 1 is incident as incident light, and the virtual image 300 (see FIG. 1) is projected onto the target space 400 (see FIG. 1) by the incident light. Here, the projection optical system 4 is arranged so as to line up with respect to the screen 1 in the moving direction X of the movable screen 1a. As shown in FIG. 3, the projection optical system 4 has a magnifying lens 41, a first mirror 42, and a second mirror 43.

The magnifying lens 41, the first mirror 42, and the second mirror 43 are arranged in this order on the path of light transmitted through the screen 1. The magnifying lens 41 is arranged on the opposite side (first direction X1 side) of the irradiation unit 3 in the moving direction X when viewed from the screen 1 so that the light output from the screen 1 along the moving direction X is incident. Has been done. The magnifying lens 41 magnifies the image formed on the screen 1 by the light from the irradiation unit 3 and outputs it to the first mirror 42. The first mirror 42 reflects the light from the magnifying lens 41 toward the second mirror 43. The second mirror 43 reflects the light from the first mirror 42 toward the windshield 101 (see FIG. 1). That is, the projection optical system 4 projects the virtual image 300 onto the target space 400 by enlarging the image formed on the screen 1 by the light from the irradiation unit 3 with the magnifying lens 41 and projecting it onto the windshield 101. .. Here, the optical axis of the magnifying lens 41 is the optical axis 500 of the projection optical system 4.

The control unit 5 is composed of, for example, a CPU (Central Processing Unit) and a microcomputer having a memory as a main configuration. In other words, the control unit 5 is realized by a computer having a CPU and a memory, and the computer functions as the control unit 5 by executing a program stored in the memory by the CPU. Although the program is recorded in advance in the memory of the control unit 5, the program may be provided by being recorded in a telecommunication line such as the Internet or recorded in a recording medium such as a memory card.

The control unit 5 controls the drive unit 2 and the irradiation unit 3. The control unit 5 controls the drive unit 2 with the first control signal, and controls the irradiation unit 3 with the second control signal. Further, the control unit 5 is configured to synchronize the operation of the drive unit 2 with the operation of the irradiation unit 3. Further, as shown in FIG. 3, the control unit 5 has functions as a drive control unit 51 and a display control unit 52.

The drive control unit 51 controls the drive unit 2 to move the movable screen 1a relative to the reference position. The "reference position" referred to here is a position set at a specified position in the moving range of the movable screen 1a. The drive control unit 51 moves the movable screen 1a in order to project the second virtual image 302 onto the target space 400 by the light transmitted through the movable screen 1a, and synchronizes with the drawing on the movable screen 1a by the irradiation unit 3. The drive unit 2 is controlled.

The display control unit 52 determines the content (content) of the virtual image 300 to be displayed and the display position (viewing distance) of the virtual image 300 based on one or more information acquired by the acquisition unit 6. Further, when the shield is present, the display control unit 52 determines whether or not the display mode of the projected virtual image 300 is changed based on the distance to the shield and the display position of the virtual image 300. Specifically, the display control unit 52 indicates that the detection result from the detection system 7 indicates that a shield exists in the projection direction of the virtual image, and when the distance to the shield is less than or equal to the viewing distance to the virtual image 300. , Change the display mode of the virtual image. The specific processing will be described later. Here, the display mode of the virtual image includes not only the design of the virtual image but also the display position. "Change of display mode" is intended to change at least one of "design" and "display position". Further, the "change of display mode" includes a case of adding other information and a case of changing the type of the virtual image 300. The "change of the type of the virtual image 300" is to change one of the first virtual image 301, the second virtual image 302, and the third virtual image 303 to another virtual image. The viewing distance is the distance from the eye (eye point) of the user 200 to the virtual image 300. "The distance to the shield is less than or equal to the viewing distance to the virtual image 300" means that the distance to the shield is greater than or equal to the viewing distance to the rear end (front end) of the virtual image 300 and to the shield. Is equal to or less than the viewing distance to the front end of the virtual image 300.

The acquisition unit 6 acquires information (driving support information) about an object existing around the automobile 100 from the detection system 7. Specifically, the acquisition unit 6 acquires the detection result information as driving support information from the detection system 7. In addition, the acquisition unit 6 also acquires information such as the map information, vehicle information, position information, and navigation information (navigation information) for the automobile 100 as driving support information.

(3) Operation (3.1) Basic operation The basic operation of the display system 10 of the present embodiment will be described below. The control unit 5 controls the irradiation unit 3 and irradiates the movable screen 1a with light from the irradiation unit 3. At this time, the movable screen 1a is irradiated with light that scans on one surface of the movable screen 1a from the irradiation unit 3. As a result, an image is formed (projected) on the movable screen 1a. Further, the light from the irradiation unit 3 passes through the movable screen 1a and is irradiated from the projection optical system 4 to the windshield 101. As a result, the image formed on the movable screen 1a is projected onto the windshield 101 from below the windshield 101 in the interior of the automobile 100.

When an image is projected from the projection optical system 4 onto the windshield 101, the windshield 101 reflects the light from the projection optical system 4 toward the user 200 (driver) in the vehicle interior. As a result, the image reflected by the windshield 101 is visually recognized by the user 200. As a result, the user 200 can visually recognize the virtual image 300 (first virtual image 301 or second virtual image 302) projected on the front side (outside the vehicle) of the automobile 100 through the windshield 101.

Specifically, the control unit 5 scans the light on one surface of the movable screen 1a while the movable screen 1a is fixed in the moving direction X, so that the first virtual image 301 visually recognized with depth along the road surface 600 is obtained. It is formed. Further, the control unit 5 scans light on one surface of the movable screen 1a while moving the movable screen 1a so that the distance from the bright spot on one surface of the movable screen 1a to the projection optical system 4 in the X direction is constant. Let me. As a result, a second virtual image 302 that is viewed upright on the road surface 600 at a certain distance from the user 200 is formed.

Here, the control unit 5 controls the drive unit 2 by the drive control unit 51 during the period in which the movable screen 1a is irradiated with light from the irradiation unit 3, and moves the movable screen 1a in the moving direction X. .. When the irradiation position of the light from the irradiation unit 3 on one surface of the movable screen 1a, that is, the position of the bright spot is the same, when the movable screen 1a moves in the first direction X1, the user 200's eyes (eye points) to the virtual image 300. Distance (“viewing distance”) becomes shorter. On the contrary, when the positions of the bright spots on one surface of the movable screen 1a are the same and the movable screen 1a moves in the second direction X2, the viewing distance to the virtual image 300 becomes long (far). That is, the viewing distance to the virtual image 300 changes depending on the position of the movable screen 1a in the moving direction X.

For example, when changing the viewing distance of the first virtual image 301, the control unit 5 moves the movable screen 1a in the X direction according to the viewing distance, and keeps the movable screen 1a fixed at the position after the movement. Light is scanned on one surface of the movable screen 1a. When changing the viewing distance of the second virtual image 302, the control unit 5 moves the movable screen 1a in the X direction according to the viewing distance. The control unit 5 scans light on one surface of the movable screen 1a while moving the movable screen 1a so that the distance from the bright spot to the projection optical system 4 in the X direction is constant with reference to the position after the movement. Let me.

Further, the control unit 5 controls the irradiation unit 3 and irradiates the fixed screen 1b with light from the irradiation unit 3. At this time, the fixed screen 1b is irradiated with light that scans on one surface of the fixed screen 1b from the irradiation unit 3. As a result, an image is formed (projected) on the fixed screen 1b and the image is projected on the windshield 101, as in the case of irradiating the movable screen 1a with light. As a result, the user 200 can visually recognize the virtual image 300 (third virtual image 303) projected on the front side (outside the vehicle) of the automobile 100 through the windshield 101. Here, since the third virtual image 303 is formed by the light projected on the fixed screen 1b whose position is fixed, the third virtual image 303 is on the road surface 600 at a predetermined distance (for example, 2 to 3 m) from the user 200. It stands upright and is visually recognized.

In the display system 10 of the present embodiment, the first virtual image 301, the first virtual image 301, is used during one cycle in which the scanning unit 32 reciprocates once in the vertical direction of the movable screen 1a (the direction inclined with respect to the reference surface 503 of the movable screen 1a). All of the two virtual images 302 and the third virtual image 303 can be projected. Specifically, the projection unit 40 first irradiates the movable screen 1a with light to project the first virtual image 301 in the “outward path” of scanning the light in the order of the movable screen 1a and the fixed screen 1b, and then the fixed screen. The third virtual image 303 is displayed by irradiating 1b with light. Then, in the "return path" in which the projection unit 40 scans the light in the order of the fixed screen 1b and the movable screen 1a, the projection unit 40 first irradiates the fixed screen 1b with light to display the third virtual image 303, and then displays the light on the movable screen 1a. Is irradiated to project the second virtual image 302.

Therefore, the first virtual image 301, the third virtual image 303, and the second virtual image 302 are projected on the target space 400 during one cycle in which the scanning unit 32 scans in the vertical direction. Since the vertical scanning in the irradiation unit 3 is performed at a relatively high speed, the user 200 can visually recognize that the first virtual image 301, the third virtual image 303, and the second virtual image 302 are displayed at the same time. The frequency of vertical scanning in the irradiation unit 3 is, for example, 60 Hz or higher.

(3.2) Operation of Display System Next, the operation of the display system 10 in the present embodiment will be described with reference to the flow chart of FIG.

The display control unit 52 of the control unit 5 determines the content of the virtual image 300 to be displayed and the display position of the virtual image 300 based on the driving support information acquired by the acquisition unit 6 (step S1).

The display control unit 52 determines whether or not there is a shield in the projection direction of the virtual image 300 (in front of the user 200) based on the detection result of the detection system 7 (step S2).

When it is determined that the shield exists (“Yes” in step S2), the display control unit 52 acquires the distance to the shield obtained by the detection system 7 by using the driving support information acquired by the acquisition unit 6. (Step S3).

The display control unit 52 determines whether or not the distance to the shield is equal to or less than the viewing distance to the virtual image 300 (step S4).

When it is determined that the distance to the shield is equal to or less than the viewing distance of the virtual image 300 (“Yes” in step S4), the display control unit 52 determines that the distance to the shield is based on the notification received from the detection system 7. It is determined whether or not it is a certain value (for example, 100 [m]) or more (step S5).

When it is determined that the distance to the shield is not equal to or greater than a certain value (“No” in step S5), the display control unit 52 changes the display mode of the virtual image 300 to be displayed, and changes to the drive control unit 51. The virtual image 300 is displayed in the display mode (step S6).

When it is determined that the shield does not exist (“No” in step S2), the display control unit 52 causes the drive control unit 51 to display the virtual image 300 without changing the display mode of the virtual image 300 (step S7). Similarly, when it is determined that the distance to the shield is not less than or equal to the viewing distance of the virtual image 300 (“No” in step S4), the display control unit 52 sends the drive control unit 51 to the drive control unit 51 without changing the display mode of the virtual image 300. The virtual image 300 is displayed (step S7). Further, even when it is determined that the distance to the shield is equal to or greater than a certain value (“Yes” in step S5), the display control unit 52 does not change the display mode of the virtual image 300, and the drive control unit 51 tells the virtual image 300. Is displayed (step S7).

The processes of steps S1 to S7 described above are repeatedly executed in a cycle of displaying the virtual image 300 (for example, 1/60 second).

(4) Specific Example of Change in Display Mode Here, the change in display mode will be described with reference to a specific example.

The display control unit 52 determines to display (project) the straight arrow 310 (see FIGS. 5A and 5B) as the first virtual image 301 on the first virtual surface 501 based on the driving support information.

When the straight arrow 310 is projected onto the first virtual surface 501, as described above, the user 200 can visually recognize the straight arrow 310 (first virtual image 301) having a depth along the road surface 600 (FIG. 5B). reference).

Here, when the automobile 150 exists as a shield in the projection direction (in front of the user 200) and the distance to the automobile 150 is equal to or less than the viewing distance, the straight arrow 310 overlaps the automobile 150 (FIGS. 5C and 5D). reference). In other words, the straight arrow 310 appears to pierce or pierce the vehicle 150. Therefore, the user 200 gets a sense of discomfort.

Therefore, the display control unit 52 of the present embodiment changes the display mode of the first virtual image 301 (straight arrow 310) in order to reduce the discomfort of the user 200.

In the present embodiment, the display control unit 52 changes the display mode of the portion 311 that overlaps with the automobile 150 in the entire straight arrow 310 so as to be less noticeable than the portion 312 that does not overlap (see FIG. 6A). For example, the display control unit 52 lowers the brightness, changes the color, changes the line thickness, and outlines the portion 311 of the entire straight arrow 310 that overlaps with the automobile 150. To do. That is, the display control unit 52 performs at least one of reduction in brightness, change in color, change in line thickness, and whitening for the portion 311 that overlaps with the automobile 150 in the entire straight arrow 310. In other words, the display control unit 52 sets the overlapping portion so that the overlapping portion, which is a part of the first virtual image 301 and overlaps with the shield (automobile 150), has lower visibility than the non-overlapping portion. The display mode of is changed. Further, it can be said that the display control unit 52 changes the display mode of the first virtual image 301 so that the non-overlapping portion remains in the original display mode.

Further, in the present embodiment, even if the distance to the shield (for example, the automobile 150) is equal to or less than the viewing distance, if the distance to the shield (automobile 150) is equal to or more than a certain value, the display control unit 52 may perform the second operation. 1 The display mode of the virtual image 301 (for example, the straight arrow 310) is not changed (see FIG. 6B). This is because even if the tip portion (the portion having the farthest viewing distance) of the straight arrow 310 overlaps with the automobile 150, the user 200 feels less discomfort than when the automobile 150 is nearby.

In the present embodiment, the display control unit 52 is configured to change the display mode of the portion 311 of the entire straight arrow 310 that overlaps with the automobile 150 so as to be less noticeable than the portion 312 that does not overlap. , Not limited to this configuration. The display control unit 52 may change the display mode of the first virtual image 301 so that the viewing distance of the first virtual image 301 (straight arrow 310) is shorter than the distance to the shield.

Further, the straight arrow 310 as the first virtual image 301 is an example, and may have other display contents as the first virtual image 301.

As described above, in the display system 10 of the present embodiment, when the distance to the shield is equal to or less than the viewing distance and the distance to the shield is shorter than a certain value, the display control unit 52 is the first. The display mode of the virtual image 301 is changed. As a result, the display system 10 can reduce the discomfort of the user 200 due to the appearance of the shield and the deep first virtual image 301 overlapping each other.

Although the display system 10 is configured so that the display mode of the first virtual image 301 is not changed when the distance to the shield is equal to or more than a certain value even if the distance to the shield is equal to or less than the viewing distance. , Not limited to this configuration. When the distance to the shield is equal to or less than the viewing distance, the display system 10 may always change the display mode of the first virtual image 301 regardless of the distance to the shield.

Further, both ends of the first virtual image 301 in the direction along the road surface 600 may not overlap the shield, and only the central portion may overlap. In this case, both ends of the first virtual image 301 that do not overlap the shield may have different display modes or may have the same display mode.

(5) Modification example of display mode 1
In the above "(4) Specific example of changing the display mode", the first virtual image 301 (straight arrow 310) having a depth along the road surface 600 was displayed before and after the change of the display mode. In this modification, the display system 10 displays the second virtual image 302 having no depth by changing the display mode of the first virtual image 301 having a depth along the road surface 600.

Hereinafter, a specific example will be described.

The display control unit 52 determines to display (project) the straight arrow 310 (see FIG. 5A) as the first virtual image 301 on the first virtual surface 501 based on the driving support information.

Here, when the automobile 150 exists as a shield in the projection direction (in front of the user 200) and the distance to the automobile is equal to or less than the viewing distance, the straight arrow 310 overlaps the automobile 150 (see FIGS. 5C and 5D). ).

Therefore, the display control unit 52 changes the display mode so that the straight arrow 310 is displayed on the second virtual surface 502 instead of being displayed on the first virtual surface 501 (see FIG. 7). That is, the display control unit 52 changes the display mode so that the straight arrow 310 is displayed not as the first virtual image 301 but as the second virtual image 302. At this time, the drive control unit 51 displays (projects) the straight arrow 315 as the second virtual image 302 on the second virtual surface 502 instead of the straight arrow 310 as the first virtual image 301. Control.

As described above, the second virtual image 302 is a virtual image in which the viewing distance is substantially equal between the upper end side and the lower end side in the vertical direction (vertical direction in FIG. 2) when viewed from the user 200. In other words, since the second virtual image 302 is displayed substantially vertically, there is no depth along the road surface 600.

Therefore, when the straight arrow 310 is displayed as the second virtual image 302 rather than as the first virtual image 301, the user 200 feels less discomfort because there is no depth along the road surface 600.

The straight arrow 310 as the first virtual image 301 is an example, and may have other display contents as the first virtual image 301.

Further, in this modification, the display mode is changed so that the first virtual image 301 (for example, the straight arrow 310) is displayed as the second virtual image 302, but the display mode may be changed so as to be displayed as the third virtual image 303. Good.

(6) Modification example 2 of display mode
In the first modification, the display system 10 simply converts the first virtual image 301 having a depth along the road surface 600 into the second virtual image 302 having no depth.

In this modification, when the display system 10 changes the display mode from the first virtual image 301 having a depth along the road surface 600 to the second virtual image 302 having no depth, the situation in front of the automobile 100 is also regarded as a virtual image. indicate.

Hereinafter, a specific example will be described.

The display control unit 52 determines to display (project) a right turn arrow or a left turn arrow as the first virtual image 301 on the first virtual surface 501 based on the driving support information. In the following, the right turn arrow will be described as an example.

Here, when the automobile 150 exists as a shield in the projection direction (in front of the user 200) and the distance to the automobile is equal to or less than the viewing distance, the right turn arrow overlaps the automobile 150.

Similar to the modification 1, the display control unit 52 changes the display mode so that the right turn arrow is displayed on the second virtual surface 502 instead of being displayed on the first virtual surface 501. At this time, since the display system 10 obtains information on the surroundings of the automobile 100 such as pedestrian information and forward vehicle information by the acquisition unit 6, a virtual image representing the situation in front of the automobile 100 is also based on these information. , The target to be displayed (projected) on the second virtual surface 502. At this time, the drive control unit 51 controls the projection unit 40 so that the right turn arrow and the virtual image representing the situation in front of the automobile 100 are displayed (projected) on the second virtual surface 502.

The virtual image 320 displayed in this modification is not the content that the user 200 sees as the situation in front of the automobile 100, but the content that the user 200 sees from above. That is, the virtual image 320 represents a situation when the automobile 100 is viewed diagonally forward from above. As a result, virtual display is possible in the second virtual image 302.

FIG. 8A shows an example in which a virtual image 320 as a second virtual image 302 composed of a right turn arrow and information representing the situation in front of the automobile 100 is displayed on the second virtual surface 502. An example is shown in which a virtual image 320 as a second virtual image 302 composed of a right turn arrow and information representing an automobile 150 is displayed on the second virtual surface 502. The virtual image 320 includes a right turn arrow 321 determined to be displayed based on the driving support information, and a virtual image 322 representing the automobile 150 as a shield. By visually recognizing the virtual image 320, the user 200 can know that the automobile 150 exists in front of the automobile 100, and that no person, automobile, or the like exists in front of the automobile 150.

FIG. 8B shows an example in which a virtual image 330 as a second virtual image 302 different from that of FIG. 8A is displayed on the second virtual surface 502. The virtual image 330 includes a right turn arrow 331 determined to be displayed based on driving support information, a virtual image 332 representing the automobile 150 as a shield, and a virtual image 333 representing a person existing in front of the automobile 150. It has been. By visually recognizing the virtual image 330, the user 200 can know that the automobile 150 exists in front of the automobile 100 and that a person exists in front of the automobile 150. As a result, the user 200 can know an object (person, automobile, etc.) hidden by the shield.

The right turn arrow as the first virtual image 301 is an example, and other display contents may be displayed as the first virtual image 301.

(7) Modification example of display mode 3
In this modification, the display system 10 converts the first virtual image 301 to be displayed into another virtual image (second virtual image 302) corresponding to the contents of the first virtual image 301 to be displayed by combining with the shield.

Hereinafter, a specific example will be described.

The display control unit 52 determines to display (project) a right turn arrow as the first virtual image 301 on the first virtual surface 501 based on the driving support information.

Here, when the automobile 150 exists as a shield in the projection direction (in front of the user 200) and the distance to the automobile is equal to or less than the viewing distance, the right turn arrow overlaps the automobile 150.

Therefore, the display control unit 52 changes the display mode of the right turn arrow by changing the right turn arrow to another virtual image (second virtual image 302) representing the right turn in combination with the shield (automobile 150). As shown in FIG. 9A, the display control unit 52 changes the right turn arrow (virtual image) to another circular virtual image 340 superimposed on the position of the right turn signal lamp of the automobile 150 in front. In this case, the display control unit 52 obtains the position of the right turn signal lamp of the automobile 150 from the image taken by the image pickup device 71. The display control unit 52 obtains the projection position of the virtual image 340 on the second virtual surface 502 so that the virtual image 340 overlaps the obtained position. The drive control unit 51 controls the projection unit 40 so that the virtual image 340 is displayed (projected) on the second virtual surface 502 at the display position.

In the present embodiment, instead of displaying the right turn arrow, a virtual image is superimposed on the position of the right turn signal lamp of the automobile 150 in front, so that the user 200 can see as if the right turn signal lamp of the automobile 150 is lit. , Can prompt you to turn right. That is, in this modification, the display system 10 uses the automobile 150 as a canvas, and informs the user 200 of the content corresponding to the right turn arrow by the combination of the automobile 150 and the virtual image 340.

Further, as another example, when the display control unit 52 determines that a person exists in front of the automobile 150 as a shield based on the driving support information, the display control unit 52 urges attention to the existence of the person (a virtual image). It is determined that the attention virtual image) is displayed (projected) on the first virtual surface 501.

Here, when the automobile 150 exists as a shield in the projection direction (in front of the user 200) and the distance to the automobile is equal to or less than the viewing distance, the attention virtual image overlaps with the automobile 150.

Therefore, the display control unit 52 changes the display mode of the attention virtual image by changing the attention virtual image to another virtual image that prompts attention to the existence of a person in combination with a shield (automobile 150). As shown in FIG. 9B, the display control unit 52 changes the attention virtual image into a pair of virtual images 341 superimposed on the position of the brake lamp (tail lamp) of the automobile 150 in front. In this case, the display control unit 52 obtains the positions of the pair of brake lamps of the automobile 150 from the image taken by the image pickup device 71. The display control unit 52 obtains the projection positions of the pair of virtual images 341 on the second virtual surface 502 so that the pair of virtual images 341 overlap each other at the obtained pair of positions. The drive control unit 51 controls the projection unit 40 so that each of the pair of virtual images 341 is displayed (projected) on the second virtual surface 502 at the display position.

In the present embodiment, instead of displaying the attention virtual image, the virtual image 341 is superimposed on the position of the brake lamp which is a part of the automobile 150 in front, so that the user 200 is made to appear as if the brake lamp of the automobile 150 is lit. By doing so, you can call your attention. That is, the display system 10 can use the automobile 150 as a canvas and use the combination of the automobile 150 and the virtual image 340 to encourage attention to the existence of a person.

In this modification, when the display control unit 52 displays the second virtual image 302 whose display mode has been changed from the first virtual image 301, the viewing distance of the second virtual image 302 is the distance of the shield (automobile 150). It is preferable to determine the display position so as to match with. As a result, the user 200 can visually recognize the second virtual image 302 more comfortably as compared with the case where the viewing distance of the second virtual image 302 does not match the distance of the shield (automobile 150).

Further, the color of the virtual image superimposed on the position of the brake lamp may be changed according to the distance from the automobile 100 to the person. For example, as the distance from the car 100 to a person becomes shorter, the brightness is increased.

(8) Modification example of display mode 4
While driving the automobile 100, another automobile 150 may appear in the projection direction of the virtual image (in front of the automobile 100) due to a lane change or the like.

For example, when the automobile 150 is traveling in another traveling lane (the lane on the left side with respect to the traveling direction), the display system 10 of the automobile 100 sets a straight arrow 350 as the first virtual image 301 along the road surface 600. When displaying so as to have depth, the straight arrow 350 is displayed in blue (a color indicating safety) (see FIG. 10A).

When the display control unit 52 determines that the automobile 150 has changed lanes to the lane in which the automobile 100 is traveling based on the driving support information, particularly the information around the vehicle, the display control unit 52 starts from the blue straight arrow 350. Change to the yellow (color indicating caution) straight arrow 350 (see FIG. 10B). The drive control unit 51 controls the projection unit 40 so that the straight arrow 350 is displayed in the changed display color.

When the display control unit 52 recognizes that the vehicle 150 overlaps with the straight arrow 350 due to further movement, the display control unit 52 uses the vehicle 150 as a shield and does not display the portion of the straight arrow 350 that overlaps with the vehicle 150. Change the display mode to. The display control unit 52 gradually deletes the portion of the straight arrow 350 that overlaps with the automobile 150 according to the movement of the automobile 150 (see FIGS. 11A and 11B).

Further, as shown in FIG. 11A, the display mode may be changed between the portion 350a of the straight arrow 350 in front of the automobile 150 and the remaining portion 350b. For example, the brightness is gradually lowered so that the portion 350b becomes less noticeable than the portion 350a. As a result, as the vehicle 150 overlaps the straight arrow 350 due to the movement of the vehicle 150, the portion of the straight arrow 350 that overlaps with the vehicle 150 can be faded out.

When the movement of the automobile 150 in the left-right direction is stable (when the movement in the left-right direction is within a predetermined range), the display control unit 52 recognizes that the lane change of the automobile 150 is completed. When it is recognized that the lane change of the automobile 150 is completed, the tip portion of the straight arrow 350 is deleted as shown in FIG. 11B. Therefore, in addition to the straight-ahead arrow 350 whose tip portion has been deleted, the display control unit 52 also displays a virtual image 355 of the display content including a straight-ahead arrow and a message indicating straight-ahead as the second virtual image 302 (see FIG. 12A). At this time, the drive control unit 51 controls the projection unit 40 so that the straight arrow 350 with the tip portion deleted is displayed on the first virtual surface 501 and the virtual image 355 is displayed on the second virtual surface 502. When the virtual image 355 is projected (displayed) by the projection unit 40, the drive control unit 51 controls the projection unit 40 so that the virtual image 355 is displayed at a position that does not overlap with the shield (automobile 150). For example, the drive control unit 51 may control the projection unit 40 so as to display the virtual image 355 so as to be located in front of the automobile 150, or may project so as to display the virtual image 355 so as to be located behind the automobile 150. The unit 40 may be controlled.

As a result, the display system 10 can simultaneously display the first virtual image 301 and the second virtual image 302 so that the user 200 can visually recognize them.

In the above, the change in the display mode when the straight arrow 350 is displayed as the first virtual image 301 has been described. When displaying a right turn arrow or a left turn arrow as the first virtual image 301, the same display mode can be changed.

FIG. 12B shows an example in which a right turn arrow 351 (a right turn arrow with the tip removed) is displayed as the first virtual image 301, and a right turn arrow and a virtual image 356 of the display content including a message indicating a right turn are displayed as the second virtual image. Shown. In this case as well, the drive control unit 51 may control the projection unit 40 so as to display the virtual image 355 so as to be located in front of the automobile 150, or may display the virtual image 355 so as to be located behind the automobile 150. The projection unit 40 may be controlled so as to do so. Alternatively, the drive control unit 51 may control the projection unit 40 so that the virtual image 356 is displayed with the virtual image 356 as the reference point for displaying the actual right turn position, and the virtual image 356 is displayed with the reference point as the starting point. In this case, the drive control unit 51 may control the projection unit 40 so that the virtual image 355 is displayed so as to increase as it approaches the right turn position.

The straight arrow 350 and the right turn arrow 351 as the first virtual image 301 are examples, and other display contents may be used as the first virtual image 301.

The display system 10 shows another example of displaying the first virtual image 301 and the second virtual image 302 at the same time.

Here, a straight arrow will be used as an example of the first virtual image 301.

The display control unit 52 determines to display (project) the straight arrow 360 as the first virtual image 301 on the first virtual surface 501 based on the driving support information.

When the straight arrow 360 does not overlap the shield (vehicle 150), the straight arrow 360 is displayed as the first virtual image 301 (see FIG. 13A).

The display control unit 52 displays the portion 361 of the straight arrow 360 that does not overlap with the automobile 150 as the first virtual image 301, and displays the virtual image 362 corresponding to the portion of the straight arrow 360 that overlaps with the automobile 150 as the second virtual image 302. The display mode of the straight arrow 360 is changed so as to be performed (see FIG. 13B). At this time, the drive control unit 51 controls the projection unit 40 so that the portion 361 of the straight arrow 360 that does not overlap with the automobile 150 is displayed on the first virtual surface 501, and the virtual image 362 is a portion on the second virtual surface 502. The projection unit 40 is controlled so that it is displayed continuously with 361.

As a result, the display system 10 supplements the portion of the first virtual image 301 deleted by the shield with the second virtual image 302, so that the user 200 can also visually recognize the deleted portion.

The straight arrow 360 as the first virtual image 301 is an example, and may have other display contents as the first virtual image 301.

(9) Modification example of display mode 5
In this modification, when the virtual image 300 overlaps with the shield, the display system 10 displays the content corresponding to the display content represented by the virtual image 300 as the virtual image 300 at a position not overlapping with the shield.

For example, the display control unit 52 may determine to display a virtual image as the first virtual image 301 indicating that the lane change is prohibited, based on the driving support information.

In this case, when the display control unit 52 determines that the virtual image 301 determined to be displayed overlaps the shield (vehicle 150), the display control unit 52 displays another virtual image indicating that the lane change is prohibited at a position that does not overlap the vehicle 150. Change the display mode. For example, as shown in FIG. 14A, the display mode is changed so that the virtual image 370 as the first virtual image 301 composed of a plurality of red (colors representing danger) square figures is displayed on both sides of the automobile 150. .. At this time, the drive control unit 51 controls the projection unit 40 so that the virtual image 370 is displayed as the first virtual image 301 on both sides of the automobile 150. As a result, the red squares are displayed so as to be lined up on both sides of the automobile 150 along the road surface 600, so that the user 200 knows that the lane cannot be changed.

Further, based on the driving support information, the display control unit 52 may determine that the lane change is prohibited on the left side with respect to the traveling direction, but the lane change is possible on the right side. In this case, when the display control unit 52 determines that the virtual image as the first virtual image 301 to be displayed overlaps with the automobile 150, the left side represents the lane change prohibition and the right side represents another virtual image indicating that the lane can be changed. The display mode is changed so that the display does not overlap with the automobile 150. For example, as shown in FIG. 14B, a virtual image 371 as a first virtual image 301 composed of a plurality of red square-shaped figures is displayed on the left side of the automobile 150, and a plurality of blue square-shaped figures are displayed on the right side of the automobile 150. The display mode is changed so that the virtual image 372 as the first virtual image 301 composed of figures is displayed. At this time, the drive control unit 51 controls the projection unit 40 so that the virtual image 371 is displayed on the left side of the automobile 150 and the virtual image 372 is displayed on the right side as the first virtual image 301. As a result, along the road surface 600, red squares are displayed on the left side of the automobile 150 and blue squares are displayed on the right side. Therefore, the user 200 can change lanes on the right side. Know what you can do.

The lane change is an example of the content to be displayed, and other content may be used. Further, the figure displayed as the first virtual image 301 at a position not overlapping with the shield is not limited to the quadrangle, and may have other shapes. Further, the virtual image displayed as the first virtual image 301 at a position not overlapping with the shield is not limited to a figure, but may be a character, a symbol, or the like.

(10) Modification example of display mode 6
As described above, the display system 10 can also display the vehicle speed information as a virtual image 300.

For example, the display control unit 52 may determine that the speed of the automobile 100 is displayed as the second virtual image 302.

At this time, when the second virtual image 302 does not overlap with the shield (vehicle 150), the control unit 5 displays the second virtual image 302 representing the speed in front of the vehicle 150 (see FIG. 15A).

When the second virtual image 302 overlaps with the automobile 150, the display control unit 52 changes the display mode from the second virtual image 302 to the third virtual image 303 (see FIG. 15B). At this time, the drive control unit 51 controls the projection unit 40 so that the vehicle speed information is displayed as the third virtual image 303.

(11) Modification example of display mode 7
As described above, the display system 10 can display the contents based on the navigation information. For example, the conventional display system guides in which direction (straight direction, right direction, left direction, etc.) the automobile should go toward the destination in the display area C4 surrounded by the broken lines C1 to C3 shown in FIG. 16A. Information to do (arrows indicating the direction to go) is displayed. In this case, the user 200 (driver) may be anxious because he / she does not know in which direction the destination is based on the current time.

Therefore, as shown in FIG. 16A, the display system 10 of the present modification sets the reference point A1 at a constant distance in the projection direction of the virtual image 300 (a distance further ahead of the broken line C3). For example, the reference point A1 is set 50 m ahead of the automobile 100 in the projection direction of the virtual image 300. The display system 10 displays information indicating the direction of the destination as a virtual image 300 starting from the set reference point A1.

For example, when the point B1 shown in FIG. 16A is set as the destination, the display control unit 52 obtains a direction from the reference point A1 toward the destination point B1. The drive control unit 51 controls the projection unit 40 so that the direction obtained by the display control unit 52 is displayed as the first virtual image 301. FIG. 16B shows an example showing the direction from the reference point A1 to the point B1 when the point B1 is the destination. The virtual image 380 as the first virtual image 301 shown in FIG. 16B includes a second virtual image 381 representing the reference point A1 and a third virtual image 382 representing the direction from the reference point A1 to the point B1 (destination). .. As a result, the user 200 can intuitively know that the destination exists farther from the reference point A1.

Further, when the point B2 shown in FIG. 16A is set as the destination, the display control unit 52 obtains a direction from the reference point A1 toward the destination point B2. The drive control unit 51 controls the projection unit 40 so that the direction obtained by the display control unit 52 is displayed as the first virtual image 301. FIG. 16C shows an example showing the direction from the reference point A1 to the point B2 when the point B2 is the destination. The virtual image 385 as the first virtual image 301 shown in FIG. 16C includes a second virtual image 386 representing the reference point A1 and a third virtual image 387 representing the direction from the reference point A1 to the point B2 (destination). .. As a result, the user 200 can intuitively know that the destination exists in the vicinity of the reference point A1.

Further, when the point B3 shown in FIG. 16A is set as the destination, the display control unit 52 obtains the direction from the reference point A1 toward the destination point B3. The drive control unit 51 controls the projection unit 40 so that the direction obtained by the display control unit 52 is displayed as the first virtual image 301. FIG. 16D shows an example showing the direction from the reference point A1 to the point B3 when the point B3 is the destination. The virtual image 390 as the first virtual image 301 shown in FIG. 16D includes a first virtual image 391 representing the reference point A1 and a second virtual image 392 representing the direction from the reference point A1 to the point B3 (destination). .. As a result, the user 200 can intuitively know that the destination exists before the reference point A1, that is, the destination exists between the automobile 100 and the reference point A1.

Further, when the point B4 shown in FIG. 16A is set as the destination, the display control unit 52 obtains the direction from the reference point A1 toward the destination point B4. The drive control unit 51 controls the projection unit 40 so that the direction obtained by the display control unit 52 is displayed as the first virtual image 301. FIG. 16E shows an example showing the direction from the reference point A1 to the point B4 when the point B4 is the destination. The virtual image 395 as the first virtual image 301 shown in FIG. 16E includes a first virtual image 396 representing the reference point A1 and a second virtual image 397 representing the direction from the reference point A1 to the point B4 (destination). .. In FIG. 16E, the arrow is not displayed on the second virtual image 397. By displaying only a straight line without displaying an arrow, it is possible to express that the destination exists further in front of the broken line C2 representing the boundary of the boundary area on the front side in the normal display area C4. As a result, the user 200 can intuitively know whether the automobile 100 is closest to the destination or has passed the destination.

In this modification, the display color of the first virtual image 301 may be changed according to the distance and direction from the reference point A1 to the destination. For example, when the destination is further away from the reference point A1 or is near the reference point A1, the display color of the first virtual image 301 is blue. When the destination exists between the automobile 100 and the reference point A1, the display color of the first virtual image 301 is set to yellow. When the destination exists further before the broken line C2, the display color of the first virtual image 301 is set to red. By changing the display color, the user 200 can further intuitively know the sense of distance to the destination and the direction of the destination.

Further, also in this modification, when displaying the first virtual image 301, the first virtual image 301 may overlap the shield. In this case, as described in the above-described embodiments and modifications 1 to 6, the display system 10 changes the display mode of the first virtual image 301.

(12) Modification example of display mode 8
In the above modified example 7, the value for setting the reference point is fixed (50 [m] in the above modified example), but in the present modified example, the value for setting the reference point can be changed.

When the set reference point overlaps the shield, the display control unit 52 of this modification sets a new reference point at a position where the reference point does not overlap the shield, for example, a position in front of the shield. The display control unit 52 displays the first virtual image 301 indicating the direction from the newly set reference point toward the destination.

Hereinafter, the operation of the display system 10 in this modification will be described with reference to the flow chart shown in FIG.

The acquisition unit 6 acquires the position information, the traveling direction information, the vehicle speed information, and the like of the automobile 100 (step S100).

The acquisition unit 6 acquires the shield information regarding the shield from the detection system 7 (step S101). The shield information includes the presence / absence of the shield and the distance to the shield if it exists.

The acquisition unit 6 acquires the coordinates of the guidance target point (destination) from the navigation information (step S102).

The display control unit 52 determines whether or not the reference point is visible (step S103). Specifically, the display control unit 52 determines whether or not the reference point overlaps with a shield such as a building.

When it is determined that the reference point is visible (“Yes” in step S103), the display control unit 52 calculates the display area of the virtual image 300 to be displayed (step S104).

The display control unit 52 determines whether or not the display area is visible (step S105). When it is determined that the display area is visible (“Yes” in step S105), the display control unit 52 obtains the distance and direction from the current point to the guidance target point (step S107).

The display control unit 52 determines a display format such as a figure (display figure), a display color, and a transmittance to be displayed as a virtual image 300 according to the distance and direction to the guidance target point (step S108). The display control unit 52 specifies the distance and direction from the reference point to the guidance target point from the coordinates of the reference point and the coordinates of the guidance target point. The display control unit 52 determines, for example, a display figure showing the direction from the reference point to the guidance target point to the figure shown in any of FIGS. 16B to 16E. Further, the display color and transmittance of the reference point are determined, and the display color and transmittance of the display figure are determined according to the distance and direction. For example, the display control unit 52 determines the display color as described in the modified example 7.

The drive control unit 51 performs display processing so as to display (project) the first virtual image 301 in the determined display format (step S109).

When the display control unit 52 determines that the reference point is not visible (“No” in step S103), the display control unit 52 corrects the reference point (step S106). Specifically, the display control unit 52 changes the reference point to a position where it can be visually recognized (a position in front of the shield). Then, the display control unit 52 performs the same processing as in steps S104 and S105 to calculate a visible display area. After that, the process proceeds to step S108.

When the display control unit 52 determines that the display area is not visible (“No” in step S105), the display control unit 52 corrects the reference point (step S106). In this case, since the reference point is visible, the display control unit 52 recalculates the visible display area. After that, the process proceeds to step S108.

Hereinafter, a specific example will be described.

FIG. 18A shows an example of modification when the reference point A1 overlaps with the shield D1 such as a building. When the reference point A1 and the shield D1 overlap, the first virtual image 301 to be displayed (particularly the virtual image representing the reference point A1) overlaps with the shield D1, which makes it difficult for the user 200 to visually recognize. Therefore, as described above, the display control unit 52 sets a new reference point A2 in front of the shield D1. As a result, the displayed first virtual image 301 and the shield D1 do not overlap, so that the user 200 sets the distance and direction between the new reference point A2 and the destination (for example, points B2 to B4 shown in FIG. 18A). It becomes easy to see.

The new reference point is set not only when the reference point A1 overlaps with the shield D1. For example, the reference point may be changed according to the traveling conditions such as speed, road shape, and slope regardless of the presence or absence of a shield. Specifically, although the reference point A1 does not overlap with the shield, if the reference point A1 is difficult to see due to an uphill road or the like, the reference point A1 is changed (see FIG. 18B). In FIG. 18B, the reference point A1 is set as a new reference point A3 in front of the shield D1 and is easily visible. As a result, since the reference point A3 can be visually recognized by the user 200, it becomes easy to visually recognize the distance and direction between the reference point A3 and the destination (for example, points B2 to B4 shown in FIG. 18B).

(Other variants)
The above embodiment is only one of the various embodiments of the present disclosure. The above-described embodiment can be changed in various ways depending on the design and the like as long as the object of the present disclosure can be achieved. Further, the same function as that of the display system 10 may be realized by an identification method, a computer program, a recording medium on which the program is recorded, or the like. The control method of the display system according to one aspect includes a projection unit 40 that projects the virtual image 300 onto the target space 400 and makes the target person (for example, the user 200) visually recognize the virtual image 300, and a control unit 5 that controls the display of the virtual image 300. It is a control method. The control method of the display system 10 is that when the projection unit 40 projects a virtual image 300 according to the attention target, a reference point is selected from one or more candidate points existing around the attention target, and the virtual image 300 is used as the reference point. To associate. The program according to one aspect is a program for executing the control method of the display system 10 described above in the computer system.

The execution subject of the display system 10 or the control method of the display system in the present disclosure includes a computer system. The main configuration of a computer system is a processor and memory as hardware. When the processor executes the program recorded in the memory of the computer system, the function as the execution subject of the system or method in the present disclosure is realized. The program may be pre-recorded in the memory of the computer system or may be provided through a telecommunication line. Further, the program may be provided by being recorded on a non-temporary recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by a computer system. A processor in a computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI). A plurality of electronic circuits may be integrated on one chip, or may be distributed on a plurality of chips. The plurality of chips may be integrated in one device, or may be distributed in a plurality of devices.

Further, the functions of the control unit 5 of the display system 10 may be distributed to a plurality of systems (devices). At least a part of the functions of the control unit 5 may be realized by, for example, the cloud (cloud computing).

Further, the display system 10 directly communicates between vehicles (between vehicles) or between vehicles and infrastructure such as traffic lights and road signs (between roads), so-called V2X (Vehicl). You may use the communication technology of et o Everything). According to the communication technology of V2X, for example, the mobile body information can be acquired by the automobile 100 from a surrounding vehicle or infrastructure. Further, the content of the virtual image 300 projected on the target space 400 may be determined by the infrastructure. In this case, at least a part of the control unit 5 may not be mounted on the automobile 100.

Further, the display system 10 is not limited to the configuration in which the virtual image 300 is projected onto the target space 400 set in front of the traveling direction of the automobile 100, for example, the virtual image is laterally, backward, or upward in the traveling direction of the automobile 100. You may project 300.

Further, the display system 10 is not limited to the head-up display used in the automobile 100, and can be applied to mobile objects other than the automobile 100, such as motorcycles, trains, aircraft, construction machinery, and ships. Further, the display system 10 is not limited to a mobile body, and may be used, for example, in an amusement facility, or as a wearable terminal such as a head mounted display (HMD), medical equipment, or a stationary device. May be done.

Further, the display system 10 is not limited to a configuration in which a virtual image is projected using a laser beam. For example, the display system 10 may have a configuration in which an image (virtual image 300) is projected from behind the screen 1 onto the diffusion transmission type screen 1 by a projector. Alternatively, a virtual image 300 corresponding to the image displayed on the liquid crystal display may be projected via the projection unit 40.

In the above embodiment and each modification, the virtual image 300 before changing the display mode has been described as the first virtual image 301, but the virtual image 300 before changing the display mode may be the second virtual image 302.

In the above embodiment and each modification, the detection system 7 is provided with the image pickup device 71 and the laser radar 72, but the present invention is not limited to this configuration. The detection system 7 may have a function of detecting the presence or absence of a attention target in the projection direction of the virtual image 300.

In the above-described embodiment and each modification, the detection system 7 is configured to determine the distance from the shield, but the configuration is not limited to this configuration. The control unit 5 of the display system 10 may obtain the distance from the shield.

(Summary)
The display system (10) of the first aspect includes a projection unit (40) and a control unit (5). The projection unit (40) projects a virtual image (300) onto the target space (400). The control unit (5) controls the display of the virtual image (300). The control unit (5) determines that when a shield (for example, an automobile 150) is present in the projection direction of the virtual image (300) and the distance to the shield is less than or equal to the viewing distance to the virtual image (300), the virtual image (300) The display mode of is changed.

According to this configuration, the display system (10) changes the display mode of the virtual image (300) when the distance to the shield is less than or equal to the viewing distance to the virtual image (300), so that the virtual image (300) is displayed on the shield. By overlapping, it is possible to reduce the possibility that the subject feels uncomfortable.

In the display system (10) of the second aspect, in the first aspect, the control unit (5) does not change the display mode of the virtual image (300) when the distance to the shield is a certain distance or more. .. According to this configuration, when the virtual image (300) overlaps with a shield visible at a distance of a certain distance or more, it is less likely to obtain a sense of discomfort as compared with the case where it overlaps with a shield visible near. Therefore, when the distance to the shield is a certain distance or more, the display system (10) can reduce the processing load by avoiding the change of the display mode of the virtual image (300).

In the display system (10) of the third aspect, in the first or second aspect, the control unit (5) receives a virtual image (300) when the distance to the shield is less than or equal to the viewing distance to the virtual image (300). The display mode of the virtual image (300) is changed so that the viewing distance to) is shorter than the distance to the shield. According to this configuration, since the display system (10) displays the virtual image (300) so as not to overlap the shield, it is possible to reduce the possibility that the subject feels uncomfortable due to the virtual image overlapping the shield. ..

In the display system (10) of the fourth aspect, in the third aspect, the control unit (5) controls the virtual image (300) so that the virtual image (300) is projected onto at least one of the front and the back of the shield. The display mode of is changed. According to this configuration, the display system (10) displays the virtual image (300) at at least one of the front and the back of the shield, so that the subject may feel uncomfortable due to the virtual image overlapping the shield. Can be lowered.

In the display system (10) of the fifth aspect, in the first or second aspect, the control unit (5) changes the display mode of the virtual image (300) so as to be projected on the side of the shield. According to this configuration, since the display system (10) displays at a position next to the shield, it is possible to reduce the possibility that the subject feels uncomfortable due to the virtual image overlapping the shield.

In the display system (10) of the sixth aspect, in any one of the first to sixth aspects, the control unit (5) displays the information about the object hidden in the shield, so that the virtual image (300) is displayed. The display mode of is changed. According to this configuration, the display system (10) can call attention to the user 200 by displaying information about an object hidden behind the shield.

In the display system (10) of the seventh aspect, in the first or second aspect, the control unit (5) superimposes the virtual image (300) on the predetermined portion of the shield so as to display the virtual image (300). The display mode of the virtual image (300) is changed. According to this configuration, the display system (10) can notify the user 200 of meaningful content in combination with the shield and the virtual image (300).

In the display system (10) of the eighth aspect, in the seventh aspect, the control unit (5) responds to the distance of the shield when superimposing the virtual image (300) on the predetermined portion of the shield. Therefore, the display mode of the virtual image (300) is changed. According to this configuration, when the display system (10) superimposes the virtual image (300) on the predetermined position of the shield, the display system (10) displays the virtual image (300) according to the distance of the shield. It is possible to reduce the sense of discomfort caused by combining with the virtual image (300).

In the display system (10) of the ninth aspect, in any one of the first to eighth aspects, the control unit (5) forms a non-overlapping portion that is a part of the virtual image (300) and does not overlap with the shield. The display mode of the virtual image (300) is changed so as to leave it. According to this configuration, the display system (10) can reduce the possibility that the subject feels uncomfortable due to the virtual image (300) overlapping the shield.

In the display system (10) of the tenth aspect, in the ninth aspect, the control unit (5) visually recognizes the overlapping portion that is a part of the virtual image (300) and overlaps with the shield than the non-overlapping portion. The display mode of the overlapping portion is changed so that the property is low. According to this configuration, the display system displays the overlapping portion of the virtual image (300) that overlaps with the shield so that the visibility is lower than that of the non-overlapping portion, so that the virtual image (300) overlaps with the shield. Therefore, it is possible to reduce the possibility that the subject feels uncomfortable.

The information presentation system (1000) of the eleventh aspect includes a display system (10) of any one of the first to tenth aspects and a detection system (7) for detecting an obstacle. According to this configuration, the information presentation system (1000) can reduce the possibility that the subject feels uncomfortable due to the virtual image (300) overlapping the shield.

The control method of the display system (10) according to the twelfth aspect includes a projection unit (40) that projects a virtual image (300) onto the target space (400), and a control unit (5) that controls the display of the virtual image (300). It is a control method of the display system (10) provided with. The control method of the display system (10) changes the display mode of the virtual image when the shield exists in the projection direction of the virtual image (300) and the distance to the shield is less than or equal to the viewing distance to the virtual image (300). To do. According to this control method, it is possible to reduce the possibility that the subject feels uncomfortable due to the virtual image (300) overlapping the shield.

The program of the thirteenth aspect causes the computer to execute the control method of the display system (10) of the twelfth aspect. According to this program, it is possible to reduce the possibility that the subject feels uncomfortable due to the virtual image (300) overlapping the shield.

The moving body of the fourteenth aspect (for example, the automobile 100) has light transmission with the display system (10) of any one of the first to tenth aspects, and emits light emitted by the projection unit (40). It is provided with a reflecting member (for example, a windshield 101) that reflects and makes a virtual image (300) visible to a target person (for example, a user 200). According to this configuration, the moving body can reduce the possibility that the subject feels uncomfortable due to the virtual image (300) overlapping the shield.

10 Display system 40 Projection unit 5 Control unit 51 Drive control unit 52 Display control unit 100 Automobile (moving body)
150 automobile (shield)
101 Windshield (reflective member)
200 users (target audience)
300 Virtual image 301 1st virtual image 302 2nd virtual image 303 3rd virtual image 400 Target space 7 Detection system 1000 Information presentation system

Claims (10)

A control unit for controlling the display of the virtual image projected on the target space is provided so that the virtual image can be visually recognized by the user.
The control unit
When a shield exists in the projection direction of the virtual image and the distance to the shield is less than or equal to the viewing distance to the virtual image, the display mode of the non-overlapping portion of the virtual image that does not overlap with the shield can be changed. Instead, in the virtual image, the display mode of the overlapping portion that overlaps with the shield and is continuous with the non-overlapping portion is changed.
When the distance to the shield is less than or equal to the viewing distance to the virtual image and the distance to the shield is greater than or equal to a certain distance, the display mode of the overlapping portion is not changed. system. When the distance to the shield is equal to or less than the viewing distance to the virtual image, the control unit displays the overlap at a position where the overlap is displayed without being blocked by the shield. Change the display mode of the part
The display system according to claim 1. The virtual image is a virtual image superimposed on the road surface and indicating the traveling direction.
The control unit deletes the display mode of the overlapping portion, and displays the content indicating the content of the overlapping portion as another virtual image different from the virtual image indicating the traveling direction and not superimposed and displayed on the road surface. display system according to claim 1 or 2, characterized in that. The other virtual image represents the content of the user looking forward from above the user.
The display system according to claim 3, wherein the display system is characterized by the above. The other virtual image represents textual information.
The display system according to claim 3, wherein the display system is characterized by the above. The shield is a moving body existing in the projection direction.
The control unit changes the display mode of the overlapping portion so as to superimpose the virtual image on a predetermined portion of the shield and display the virtual image.
The display system according to claim 1. When superimposing the virtual image on a predetermined portion of the shield, the control unit changes the display mode of the overlapping portion according to the distance of the shield.
The display system according to claim 6, wherein the display system is characterized in that. A control method for a display system that includes a control step that controls the display of a virtual image projected onto a target space so that the user can see the virtual image.
In the control step, when a shield exists in the projection direction of the virtual image and the distance to the shield is equal to or less than the viewing distance to the virtual image, the non-overlapping portion of the virtual image that does not overlap with the shield. The display mode is not changed, but the display mode of the overlapping portion overlapping the shield and continuous with the non-overlapping portion in the virtual image is changed.
When the distance to the shield is less than or equal to the viewing distance to the virtual image and the distance to the shield is greater than or equal to a certain distance, the display mode of the overlapping portion is not changed.
A display system control method characterized by the fact that. On the computer
A program for executing the control method of the display system according to claim 8. The display system according to any one of claims 1 to 7.
A projection unit that projects the virtual image onto the target space,
It is provided with a reflective member having light transmission, reflecting the light emitted by the projection unit, and making the virtual image visible to the subject.
A mobile body characterized by that.

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