JP6972789B2 - Head-up display device - Google Patents

Description

The present invention relates to a head-up display device used in a vehicle and superimposing a virtual image on the foreground of the vehicle for visual recognition.

The head-up display device disclosed in Patent Document 1 displays display information about an object at a position different from an object (real object) existing in the foreground, and creates a line between the display information and the object. indicate. As a result, even when the object existing in the foreground is far away and small when viewed from the viewer, the viewer can recognize the position of the object and the information about the object.

Japanese Unexamined Patent Publication No. 2005-69767

However, when the displayed information is out of the line of sight, not only the position of the object and the information about the object cannot be recognized by the viewer, but also the existence of the object may not be recognized.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a head-up display device that can easily recognize the existence of a real object existing in the foreground.

In the present invention, the following means are adopted in order to solve the above-mentioned problems.
The head-up display device of the present invention is arranged at a position away from the real object existing in the foreground, and is a linear image connecting the first virtual image notifying the existence of the real object and the position of the first virtual image and the real object. When the viewer's gaze range is far from the real object or the first virtual image, the first virtual image is brought closer to the gaze range to recognize the existence of the real object. The gist is to make it easier.

The first aspect of the head-up display device of the present invention is a head-up display device capable of superimposing a virtual image (V) on the foreground of a vehicle and displaying it, and is separated from a real object (300) existing in the foreground. A linear second virtual image (V1) arranged at a position and notifying the existence of the real object (300) and connecting the position of the first virtual image (V1) and the real object (300). The display control unit (20) includes a display control unit (20) for displaying the virtual image (V2) of the above, and a gaze information acquisition unit (40) for acquiring the gaze range (GZ) of the viewer. On the real object (300) or the first virtual image (V1), the gaze range (GZ) acquired by the gaze information acquisition unit (40) and the peripheral range (GZa) surrounding the gaze range (GZ) are When the first condition including at least the absence is satisfied, the movement process (S7) for displaying the first virtual image (V1) closer to the gaze range (GZ) is executed.

According to the first aspect, when the peripheral range surrounding the gaze range of the viewer is not on the real object or the first virtual image for notifying the real object (in other words, the gaze range and the real object or the real object are notified. When the first virtual image is separated from the first virtual image by a predetermined distance or more), it is determined that the viewer cannot recognize (or is difficult to recognize) the real object, and the process (movement) of bringing the first virtual image closer to the gaze range. Process) is executed. "Making the first virtual image closer to the gaze range" means bringing the first virtual image V1 closer to a predetermined range (peripheral range) around the gaze range, and predetermining the first virtual image from the originally displayed position. Move closer to the gaze range by the distance calculated by the gaze range or by a predetermined parameter, change the position in the left-right direction where the first virtual image is placed with respect to the position of the real object, and change it to the one where the gaze range is located. This includes at least one of bringing the first virtual image closer to the gaze range. This makes it easier for the first virtual image to enter the line of sight of the viewer, making it easier for the first virtual image to be recognized. Since the second virtual image connecting the first virtual image and the real object is displayed, the position of the real object can be easily recognized by moving the line of sight from the first virtual image along the second virtual image. can.

Further, in the second aspect, which is dependent on the first aspect, the display control unit (20) sets the display position of the first virtual image (V1) after the movement process (S7) to the move process (S7). ) May be set between the display position of the first virtual image (V1) before and the gaze range (GZ) acquired by the gaze information acquisition unit (40).

In the second aspect, the first position is closer to the position where the first virtual image was originally displayed in the left-right direction than the end of the gaze range closest to the position where the first virtual image was originally displayed. Bring the virtual image of. Specifically, for example, when the gaze range is located far to the right of the first virtual image (that is, when the first virtual image is placed on the left side of the gaze range), the display of the first virtual image after the movement process is displayed. Set the position to the left of the left edge of the gaze range. This makes it possible to bring the first virtual image closer to the vicinity of the gaze range by moving the shortest or near the shortest distance. Therefore, it is possible to reduce the annoyance associated with the movement of the first virtual image.

Further, in the third aspect, which is dependent on the first or second aspect, the display control unit (20) has the gaze range (GZ) acquired by the gaze information acquisition unit (40) and the real object (300). ) Is less than a predetermined threshold value, the first virtual image (V1) may be hidden.

In the third aspect, when the gaze range and the real object are less than a predetermined threshold value, it is determined that the viewer has recognized the real object, and the first virtual image for the purpose of notifying the real object is hidden. do. This makes it possible to reduce the annoyance that the first virtual image continues to be displayed even after the viewer recognizes the real object.

Further, in the fourth aspect dependent on any one of the first to the third, when the display control unit (20) executes the movement process (S7), at least a part of the second virtual image (V2). The visibility of the above may be reduced as compared with that before the movement process (S7) is executed.

In the fourth aspect, when the first virtual image is moved from a normal position to a position closer to the gaze range, the visibility of the second virtual image connected to the first virtual image is reduced, thereby reducing the visibility of the second virtual image. It is possible to suppress the deterioration of the visibility of the foreground due to the virtual image of. In particular, by at least reducing the visibility of a part of the second virtual image that overlaps with the range frequently seen by the viewer, it is possible to display the vehicle without interfering with the operation of the vehicle.

Further, in the fifth aspect, which is dependent on the first to fourth aspects, the display control unit (20) predetermines the display position of the first virtual image (V1) before and after the movement process (S7). It may be set within the specific display range (102).

In the fifth aspect, the position where the first virtual image is displayed is limited to the specific display range, which narrows the movement range of the first virtual image V1, so that the movement range is free. Compared to this, the line of sight of the viewer is less likely to be distracted.

Further, in the sixth aspect, which is subordinate to the fifth aspect, the display control unit (20) displays the specific display range (102) in the displayable range (101) that the head-up display device can display. The position above the center in the vertical direction may be set so that the horizontal direction is longer than the vertical direction.

Further, in the sixth aspect, the movement of the first virtual image is suppressed in the vertical direction and is generally in the horizontal direction, so that the line of sight of the viewer is distracted as compared with the case where the movement direction is free in the vertical and horizontal directions. It's hard to become.

Further, in the seventh aspect, which is dependent on the first to sixth aspects, the head-up display device is a substantially rectangular range having sides in the vertical and horizontal directions when viewed from the viewer, and the virtual image (V). The display control unit (20) has a displayable range (101) capable of displaying), and the display control unit (20) has the gaze range (GZ) acquired by the gaze information acquisition unit (40) outside the displayable range (101). If there is, the first virtual image (V1) may be displayed in the vicinity of the side of the displayable range (101) closest to the gaze range (GZ).

In the seventh aspect, even if the gaze range of the viewer is outside the displayable range of the head-up display device, the first virtual image can be moved to a position close to the gaze range of the viewer.

Further, in the eighth aspect subordinate to the first to seventh aspects, the display control unit (20) is the position of the real object (300) designated by one end of the second virtual image (V2), or the real object ( 300) If there is a gaze range (GZ) on the third virtual image (V3) displayed in the vicinity, the visibility of the first virtual image (V1) may be reduced.

In the eighth aspect, when the gaze range is in the position of the real object or a third virtual image displayed in the vicinity thereof, it is determined that the viewer has recognized the real object, and the purpose is to notify the real object. It reduces the visibility of the virtual image of 1 (including non-display). This makes it possible to reduce the annoyance that the first virtual image continues to be displayed even after the viewer recognizes the real object.

Further, in the ninth aspect, which is subordinate to the eighth aspect, the display control unit (20) gradually reduces the visibility while bringing the first virtual image (V1) closer to the real object (300). You may.

In the ninth aspect, since the first virtual image gradually approaches the real object while the visibility is lowered, the line of sight of the viewer can be directed to the position where the real object exists, so that the real object is displayed. Can be recognized.

It is a block diagram which functionally shows the structure of the head-up display device which concerns on embodiment of this invention. It is a figure which shows the example of the virtual image displayed by the head-up display device of the said embodiment. It is a flowchart which shows the operation of the head-up display device of the said embodiment. It is a figure explaining the transition of the virtual image displayed by the head-up display device which concerns on the said embodiment.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings. The present invention is not limited to the following embodiments (including the contents of the drawings). Of course, changes (including deletion of components) can be made to the following embodiments. Further, in the following description, in order to facilitate understanding of the present invention, description of known technical matters will be omitted as appropriate.

FIG. 1 is a schematic diagram showing an overall configuration of a head-up display device (hereinafter referred to as a HUD device) 100 in the present embodiment. As shown in the figure, the HUD device 100 includes an image display unit 10 that displays a virtual image V, a display control unit 20 that controls the display of the image display unit 10, an object information acquisition unit 30, a gaze information acquisition unit 40, and a vehicle. It is composed of a state acquisition unit 50.

The image display unit 10 emits display light that makes the virtual image V visible to the viewer. For example, as shown in FIG. 2, the display light is projected onto a projected unit such as a windshield glass WS or a combiner of a vehicle. By doing so, the virtual image V is visually recognized by superimposing it on the foreground 200 of the vehicle that is visually recognized through the projected portion. The image display unit 10 can display the virtual image V within the displayable range 101. The image display unit 10 acquires image data from the display control unit 20 described later, converts the acquired image data into display light, and outputs the image data.

The display control unit 20 has an external device (front detection unit 31, line-of-sight detection unit 41,) via an input / output interface (object information acquisition unit 30, gaze information acquisition unit 40, vehicle state acquisition unit 50, and communication interface 70). It is communicably connected to the position detection unit 51, the direction detection unit 52, the attitude detection unit 53, and the cloud server (external server) 500 and the vehicle ECU 600). The input / output interface can include wired communication functions such as, for example, a USB port, a serial port, a parallel port, an OBDII, and / or any other suitable wired communication port. The data cable from the vehicle is connected to the display control unit 20 via the communication interface 70. In other embodiments, the input / output interface may be, for example, a Bluetooth® communication protocol, an IEEE 802.11 protocol, an 802.16 protocol, a shared wireless access protocol, a wireless USB protocol, and / or any other suitable. It can include a wireless communication interface using various wireless communication technologies. The HUD device 100 acquires various information and image element data that is the source of the virtual image V from an external device via an input / output interface, and displays the virtual image V at a position determined by the display control unit 20. A part or all of the image element data is stored in the storage unit 22 of the display control unit 20 described later, and the display control unit 20 is used as information obtained from the front detection unit 31, the cloud server 500, the vehicle ECU 600, and the like. Accordingly, the image element data stored in the storage unit 22 may be read out and the virtual image V may be displayed.

The object information acquisition unit 30 is an input interface for acquiring data (object information) including position information of a specific real object 300 existing in the foreground 200, and is, for example, a front detection including a camera or a sensor mounted on a vehicle. The object information is acquired from the unit 31 and output to the display control unit 20.

Further, the object information acquisition unit 30 may acquire type information that identifies the type of the real object 300 on the foreground 200, which is the result of the front detection unit 31 observing the foreground 200 and analyzing it by an analysis unit (not shown). .. The type of the real object 300 is, for example, an obstacle, a road sign, a road surface, a building, or the like, but is not limited to these as long as it exists in the foreground 200 and can be identified. That is, the object information acquisition unit 30 can acquire object information (position information and type information of the actual object 300) and output it to the display control unit 20.

(Other examples of object information acquisition section)
Further, as another example, the communication interface 70 capable of communicating with an external device may function as the object information acquisition unit 30. In other words, the communication interface 70 may acquire object information from a navigation system (not shown), a cloud server 500, or a vehicle ECU 600 provided in the vehicle. For example, a navigation system, a cloud server 500, or a vehicle ECU 600 (not shown) stores map information as well as position information, type information, and the like of an actual object 300 such as a road or a building, and the display control unit 20 stores a vehicle or a vehicle described later. The position information and direction information of the HUD device 100 are output to the navigation system and / and the cloud server 500 and / and the vehicle ECU 600 via the communication interface 70, and the navigation system and / and the cloud server 500 and / and the vehicle ECU 600 Based on the input position information and direction information of the vehicle or the HUD device 100, the object information including the position information and the type information of the real object 300 existing in the foreground 200 of the vehicle is output to the communication interface 70.

The gaze information acquisition unit 40 is an input interface for acquiring gaze information regarding the range (gaze range GZ) that the viewer is gazing at. Is acquired and output to the display control unit 20. The gaze range GZ of the viewer is a region where the viewer is visually (gaze), includes an eye viewpoint (gaze point), and is a certain range in which a person can normally gaze. The method of setting the gaze range GZ of the viewer is not limited to this, and the line-of-sight detection unit 41 can be used for a predetermined time (for example, as described in Japanese Patent Application Laid-Open No. 2015-126451). A rectangular area including a plurality of eye viewpoints (gaze points) measured within 1 second) may be set in the gaze range GZ.

The vehicle state acquisition unit 50 acquires information regarding the state (position, direction, posture) of the vehicle. The vehicle state acquisition unit 50 acquires the position information of the vehicle or the HUD device 100 detected by the position detection unit 51 composed of GNSS (Global Navigation Satellite System) or the like, and is detected by the direction detection unit 52 composed of the direction sensor. The direction information indicating the direction of the vehicle or the HUD device 100 is acquired, and the attitude information indicating the height from the road surface and / or the angle with respect to the road surface of the vehicle detected by the attitude detection unit 53 including the height sensor and the acceleration sensor is acquired. , Is output to the display control unit 20.

The display control unit 20 has image elements (first virtual image V1, second virtual image V2, and first virtual image V1, second virtual image V2, and second virtual image V1) indicated by image element data input from an external database (cloud server 500 and / and vehicle ECU 600) or read from a storage unit 22. A display position adjusting unit 21 that adjusts the arrangement (display position) of the image that is the source of the virtual image V3 of 3), a storage unit 22 that stores image element data, and a display movement determination that determines the necessity of movement processing described later. A unit 23 is provided.

The display control unit 20 transmits the position information of the vehicle or the HUD device 100 acquired by the position information acquisition unit 50 and the direction information of the vehicle or the HUD device 100 acquired by the direction information acquisition unit 60 to the cloud via the communication interface 70. Output to the server 500 and / and the vehicle ECU 600. Subsequently, the cloud server 500 and the vehicle ECU 600 control the display of the image element data of the virtual image V to be displayed on the HUD device 100 based on the input position information and direction information of the vehicle or the HUD device 100 via the communication interface 70. Output to unit 20. As another example, the cloud server 500 and the vehicle ECU 600 provide instruction data indicating the virtual image V to be displayed on the HUD device 100 based on the input position information and direction information of the vehicle or the HUD device 100 as a communication interface. It may be output to the display control unit 20 via the 70, and the display control unit 20 may read out the image element data stored in the storage unit 22 based on the input instruction data. Further, as another example, the cloud server 500 and the vehicle ECU 600 indicate the image element data of the virtual image V or the virtual image V to be displayed based on other information different from the position information and the direction information of the vehicle or the HUD device 100. The instruction data to be output may be output to the display control unit 20. The display control unit 20 may read the image element data stored in the storage unit 22 based on the object information of the real object 300 acquired by the object information acquisition unit 30, or may use the object information as the communication interface 70. The image element data of the virtual image V to be output to the cloud server 500 and / and the vehicle ECU 600 and displayed on the HUD device 100 by the cloud server 500 and the vehicle ECU 600 based on the input object information is transmitted via the communication interface 70. It may be output to the display control unit 20.

Next, the virtual image V displayed by the HUD device 100 will be described with reference to FIG. 2, and the display position adjusting method of the display control unit 20 (display position adjusting unit 21) will be described. The display position adjusting unit 21 sets the display positions of the first virtual image V1, the second virtual image V2, and the third virtual image V3 related to the specific real object 300 in the foreground 200. The display position adjusting unit 21 arranges image elements (determines the display position within the displayable range 101) based on the position information of the real object 300 acquired by the object information acquisition unit 30, and specifically, the real object. A first virtual image V1 is placed at a position away from 300, and a linear second virtual image V2 is connected to a position where the first virtual image V1 and the real object 300 to which the first virtual image V1 is associated exist. Is arranged, and the third virtual image V3 is arranged at a position superimposed on the real object 300 or in the vicinity of the real object 300. In the example of FIG. 2, the real object 300 is a person 301 and a parking lot 302, and the display position adjusting unit 21 calls attention to the person 301 at a position away from the real object 300 (person 301). A first virtual image V1 displaying an exclamation mark, a linear second virtual image V2 connecting the first virtual image V1 and the person 301, and a third virtual image arranged so as to surround the person 301. A first virtual image V1 and a first virtual image V1 that display a "P" indicating a parking lot at a position away from the real object 300 (parking lot 302) with respect to V3 and the parking lot 302. Image data for displaying a linear second virtual image V2 connecting to and from the position where the vehicle field 302 exists is generated. Further, the display control unit 20 (display position adjustment unit 21) can move the virtual image V (first virtual image V1, second virtual image V2) so as to approach the gaze range GZ. Specifically, when the display control unit 20 (display position adjustment unit 21) determines that the display movement determination unit 23, which will be described later, needs to move the virtual image V (movement processing), the display control unit 20 looks at the first virtual image V1 in the gaze range. It is moved into the peripheral range GZa, which is the area surrounding the GZ. In other words, the display control unit 20 (display position adjustment unit 21) brings the first virtual image V1 closer to the gaze range GZ when the gaze range GZ of the viewer is away from the real object 300 or the first virtual image V1.

The display movement determination unit 23 includes the gaze range GZ acquired by the gaze information acquisition unit 40, the coordinate system of the image element (virtual image V) already displayed by the image display unit 10, and the real object acquired by the object information acquisition unit 30. The position information (object information) of the 300 is input, and it is determined whether the first virtual image V1 or the real object 300 is included in the peripheral range GZa which is the area surrounding the gaze range GZ. The determination result of moving the virtual image V1 of 1 is output to the display position adjusting unit 21. For example, as shown in FIG. 4, the display movement determination unit 23 has a grid coordinate system 400 in which the foreground 200 is divided into five in the left-right direction and five in the vertical direction, and the gaze information acquisition unit 40 has acquired the gaze. The grid area around the grid area (the area surrounded by the grid lines) to which the range GZ belongs is set to the peripheral range GZa. The method of setting the peripheral range GZa is not limited to this, and the peripheral range GZa may be set in a preset rectangular area centered on the gaze range GZ. The gaze range GZ may be arranged at a position eccentric with respect to the peripheral range GZa.

Next, the processing of the HUD apparatus 100 related to the characteristic portion of this embodiment will be described with reference to the flowchart shown in FIG. This process is repeatedly executed when the vehicle or the HUD device 100 is activated and the specific real object 300 is located within the displayable range 101.

First, in step S1, the display control unit 20 acquires object information including at least the position information of the real object 300 via the object information acquisition unit 30. These object information is generated when the front detection unit 31 including a camera, a sensor, or the like detects a specific real object 300 from the foreground 200, or the cloud server 500 or / / based on the vehicle position information and direction information. And generated by the vehicle ECU 600.

In step S2, the display control unit 20 determines whether the position of the real object 300 input in step S1 is included in the displayable range 101 of the HUD device 100. The display control unit 20 grasps at which position within the displayable range 101 the real object 300 is located, based on the position information of the real object 300 acquired in step S1. Since the position of the real object 300 in the displayable range 101 of the HUD device 100 differs depending on the eye point of the viewer, the eye point of the viewer is estimated and the displayable range 101 is gazed from this eye point. The position of the real object 300 may be specified. For example, a standard eye point may be estimated based on the physique, body shape, driving posture, standard line-of-sight direction, etc. of the viewer sitting in the driver's seat, and further, the seat slide position of the driver's seat, reclining, etc. The angle and the like may be detected, and the standard eye point may be corrected using the detected data. Then, the position of the real object 300 in the displayable range 101 may be grasped from the relative positional relationship between the estimated eye point and the real object 300.

When the position of the real object 300 is included in the displayable range 101 of the HUD device 100 (YES in step S2), in step S3, the display control unit 20 emphasizes the existence of the real object 300 in the displayable range 101. Display the virtual image V. As shown in FIG. 4A, the display control unit 20 is first arranged at a position away from the real object 300 (person 301) with respect to the person 301 which is the specific real object 300 of the foreground 200. A linear second virtual image V2 connecting the virtual image V1 and the first virtual image V1 and the person 301, and a third virtual image V3 surrounding the person 301 are displayed, and the parking lot 302 is actually displayed. A first virtual image V1 arranged at a position away from the object 300 (parking lot 302), a linear second virtual image V2 connecting the first virtual image V1 and the position where the parking lot 302 exists, and the like. Is displayed. The second virtual image V2 has one end of the first virtual image V1 and the other end of the position of the real object 300, and the third virtual image V3 does not have to be displayed at the position of the real object 300. ..

When displaying the virtual image V in step S3, the display control unit 20 acquires information regarding the distance from the real object 300 from the vehicle ECU 600 via the position information acquisition unit 50 or the communication interface 70, and obtains the information from the vehicle ECU 600 with the real object 300. If the distance is less than a predetermined threshold, it is determined that the display of the first virtual image V1 that emphasizes the existence of the real object 300 and the second virtual image V2 that connects the first virtual image V1 and the real object 300 is unnecessary. , The first virtual image V1 and the second virtual image V2 may be hidden. However, even if the distance to the real object 300 is less than a predetermined threshold value, the display control unit 20 may use the first virtual image V1 and the second virtual image as long as it is in the process of moving in step S7, which will be described later. The hiding of V2 may be put on hold.

In step S4, the display control unit 20 acquires the gaze range GZ of the viewer from the line-of-sight detection unit 41 via the gaze information acquisition unit 40, and the rectangular region centered on the acquired gaze range GZ is the peripheral range. Let it be GZa (step S5).

In step S6, the display control unit 20 (display movement determination unit 23) determines whether or not the peripheral range GZa includes the virtual image V. When the display control unit 20 (display position adjustment unit 21) determines that the display movement determination unit 23 includes the first virtual image V1 in the peripheral range GZa (NO in step S6), the first virtual image V1. Alternatively, it is determined that the viewer can recognize the real object 300 designated by the first virtual image V1, and the movement process of the first virtual image V1 in step S7 is not executed, that is, the display of the first virtual image V1. The process ends without changing the position.

On the other hand, when the display control unit 20 (display position adjustment unit 21) determines that the display movement determination unit 23 does not include the first virtual image V1 in the peripheral range GZa (YES in step S6), the first It is determined that the viewer cannot recognize the real object 300 instructed by the virtual image V1, and the movement process of the first virtual image V1 in step S7 is executed. In step S7, the display control unit 20 (display position adjustment unit 21) gradually moves the first virtual image V1 toward the peripheral range GZa near the gaze range GZ of the viewer. Specifically, within a predetermined time (for example, 3 seconds), the first virtual image V1 is moved from the originally displayed position to the peripheral range GZa. In step S7, the display control unit 20 (display position adjustment unit 21) may instantaneously move the first virtual image V1 to the peripheral range GZa near the gaze range GZ of the viewer.

The display control unit 20 (display position adjustment unit 21) displays the position of the real object 300 designated by the second virtual image V2 at one end or the vicinity of the real object 300 in the gaze range GZ. Is included for a predetermined time (for example, 3 seconds) or more, it may be determined that the viewer can recognize the real object 300, and the first virtual image V1 and the second virtual image V2 may be hidden.

Next, with reference to FIG. 4, the transition of the virtual image V with the change of the gaze range GZ will be described. In FIG. 4A, after executing steps S1 and S2 in FIG. 3, the display control unit 20 (display position adjusting unit 21) executes step S3, and the real object 300 (person 301) existing in the displayable range 101. , And an example of displaying the virtual image V for the parking lot 302). Since the position of the real object 300 in the displayable range 101 continuously changes as the vehicle travels, the display control unit 20 determines the position of one end of the second virtual image V2 that indicates the position of the real object 300. And the position of the third virtual image V3 displayed on the superposition with the real object 300 or in the vicinity of the real object 300 is changed according to the position change of the real object 300. On the other hand, it is preferable that the display control unit 20 fixes the position of the first virtual image V1 regardless of the position change of the real object 300, except for executing step S7 in FIG. As a result, the position of the real object 300 can be confirmed by one end of the second virtual image V2 and / and the third virtual image V3, and the first virtual image V1 that calls attention to the viewer can be easily visually recognized. Can be done.

FIG. 4B is a diagram showing the positional relationship between the gaze range GZ of the viewer acquired in step S4, the peripheral range GZa determined in step S5, and the virtual image V visually recognized by the viewer. In the state of FIG. 4B, when the display control unit 20 (display movement determination unit 23) determines whether or not there is a virtual image V in the peripheral range GZa in step S6, the display control unit 20 with respect to the person 301 in the peripheral range GZa. It is determined that there is no first virtual image V1 to be displayed (YES in step S6), and the process proceeds to step S7.

FIG. 4C is a diagram showing a virtual image V after step S7 is executed. When the movement process of step S7 is executed, the display control unit 20 shifts the display position of the first virtual image V1 displayed for the person 301 shown in FIG. 4 (b) to the peripheral range GZa near the gaze range GZ. It is gradually moved, and the display position and shape of the second virtual image V2 are gradually changed as the display position of the first virtual image V1 is changed. When the display positions of the plurality of first virtual images V1 are overlapped by the movement process of step S7, the first virtual image V1 displayed for the person 301 whose display position is changed by the move process of step S7. May be layer-displayed so as to be arranged on the front side (viewer side) of the first virtual image V1 displayed for the parking lot 302 in which the movement process is not executed. This makes it possible for the viewer to more strongly recognize the first virtual image V1 that has been moved.

Before and after the movement processing of the virtual image V in step S7, the display control unit 20 sets the position where the first virtual image V1 is displayed within the displayable range 101 (when the movement processing is performed, the display control unit 20 is the displayable range 101. (And within the peripheral range GZa), it can be set at any position, but it may be limited to the horizontally long (long in the left-right direction) specific display range 102 above the displayable range 101. That is, the position where the first virtual image V1 is displayed in step S3 of FIG. 3 and the position where the first virtual image V1 is displayed after the movement process of step S7 are within the specific display range 102, so that in step S7. Since the movement of the first virtual image V1 is suppressed in the vertical direction and is generally in the horizontal direction, the line of sight of the viewer is less likely to be distracted as compared with the case where the moving direction is free in the vertical and horizontal directions.
[Modification example]

The present invention is not limited to the above embodiments and drawings. It is possible to make changes (including deletion of components) to the embodiments and drawings as appropriate without changing the gist of the present invention. An example of the modification is described below.

In the above embodiment, the first virtual image V1 is moved to the peripheral range GZa around the gaze range GZ, but since the first virtual image V1 should be close to the gaze range GZ, the first virtual image V1 is originally displayed. It may be moved toward the gaze range GZ by a predetermined distance or a distance calculated by a predetermined parameter from the position where the position has been set. Further, typically, the first virtual image V1 is displayed on either the left or right side with respect to the position of the real object 300, but the first virtual image V1 with respect to the position of the real object 300 is displayed. When the position to be gazed is in the opposite direction to the position where the gaze range GZ is (for example, when the first virtual image V1 is on the left side and the gaze range GZ is on the right side with respect to the position of the real object 300). The first virtual image V1 may be brought closer to the gaze range GZ by changing the position in the left-right direction in which the first virtual image V1 is arranged with respect to the position of the real object 300.

The present invention is suitable for a head-up display device that allows a viewer to visually recognize a virtual image by superimposing it on the foreground.

10: Image display unit 20: Display control unit 21: Display position adjustment unit 22: Storage unit 23: Display movement determination unit 30: Object information acquisition unit 31: Front detection unit 40: Gaze information acquisition unit 41: Line-of-sight detection unit 50: Position information acquisition unit 51: Position detection unit 60: Direction information acquisition unit 61: Direction detection unit 70: Communication interface (object information acquisition unit)
100: HUD device (head-up display device)
101: Displayable range 102: Specific display range 200: Foreground 300: Real object 500: Cloud server 600: Vehicle ECU
GZ: Gaze range GZa: Peripheral range V: Virtual image V1: First virtual image V2: Second virtual image V3: Third virtual image WS: Windshield glass

Claims (8)

A head-up display device capable of superimposing a virtual image (V) on the foreground of a vehicle and displaying it.
A first virtual image (V1) arranged at a position away from the real object (300) existing in the foreground and notifying the existence of the real object (300), the first virtual image (V1), and the real object. A linear second virtual image (V2) connecting the position (300), a display control unit (20) to be displayed, and a display control unit (20).
A gaze information acquisition unit (40) for acquiring a gaze range (GZ) of a viewer is provided.
The display control unit (20) has the gaze range (GZ) and the gaze range (GZ) acquired by the gaze information acquisition unit (40) on the real object (300) or the first virtual image (V1). if it meets the first condition comprising at least that there is no peripheral range (Gza) surrounding), the first virtual image (V1) displayed close to the gaze range (GZ), the first virtual image ( with the change of the display position of V1), and executes the second virtual image (V2) of the display position and shape gradually alters move processing (S7),
When the movement process (S7) is executed, the visibility of at least a part of the second virtual image (V2) is lowered as compared with that before the movement process (S7) is executed.
A head-up display device characterized by that. The display control unit (20) sets the display position of the first virtual image (V1) after the movement process (S7) as the display position of the first virtual image (V1) before the movement process (S7). It is set between the gaze information acquisition unit (40) and the gaze range (GZ) acquired by the gaze information acquisition unit (40).
The head-up display device according to claim 1. When the distance between the gaze range (GZ) acquired by the gaze information acquisition unit (40) and the position of the real object (300) is less than a predetermined threshold value, the display control unit (20) may use the display control unit (20). Hide the first virtual image (V1),
The head-up display device according to claim 1 or 2. The display control unit (20) sets the display position of the first virtual image (V1) before and after the movement process (S7) within a predetermined specific display range (102).
The head-up display device according to any one of claims 1 to 3. The display control unit (20) positions the specific display range (102) above the center of the displayable range (101) that can be displayed by the head-up display device in the vertical direction, and the horizontal direction is the vertical direction. Set to be longer,
The head-up display device according to claim 4. The head-up display device is a substantially rectangular range having sides in each of the vertical and horizontal directions when viewed from the viewer, and has a displayable range (101) capable of displaying the virtual image (V).
When the gaze information acquisition unit (40) has acquired the gaze range (GZ) outside the displayable range (101), the display control unit (20) has the display closest to the gaze range (GZ). The first virtual image (V1) is displayed in the vicinity of the side of the possible range (101).
The head-up display device according to any one of claims 1 to 5. The display control unit (20) is placed on the position of the real object (300) designated by one end of the second virtual image (V2) or on the third virtual image (V3) displayed in the vicinity of the real object (300). When there is a gaze range (GZ), the visibility of the first virtual image (V1) is reduced.
The head-up display device according to any one of claims 1 to 6. The display control unit (20) gradually reduces the visibility of the first virtual image (V1) while bringing it closer to the real object (300).
The head-up display device according to claim 7.

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