JP7113259B2 - Display system, information presentation system including display system, display system control method, program, and mobile object including display system - Google Patents

Description

TECHNICAL FIELD The present disclosure generally relates to a display system, an information presentation system including the display system, a display system control method, a program, and a mobile object including the display system. More specifically, the present disclosure relates to a display system that projects a virtual image onto a target space, an information presentation system that includes the display system, a display system control method, a program, and a mobile object that includes the display system.

Conventionally, a vehicle display device (display system) that reflects a display image projected from a display body by a reflector on the inner surface of a windshield (windshield) and displays it as a virtual image from a distance is known. disclosed. The vehicle display device described in Patent Document 1 includes route guidance information (e.g., road map near current position, display of driving direction) and guidance indicators (e.g., arrow indicators such as going straight, turning left, and turning right) from a navigation device. is displayed as a virtual image.

JP-A-2004-168230

In the vehicle display device as described above, the driver of the vehicle (moving body) can grasp the route to the destination, but it is difficult to grasp the condition of the road surface on which the vehicle is moving. was there.

The present disclosure has been made in view of the above points, and provides a display system that makes it easy to grasp the condition of a road surface on which a moving object is moving, an information presentation system that includes the display system, a control method of the display system, a program, and a display system. An object of the present invention is to provide a moving body comprising

A display system according to one aspect of the present disclosure includes a control unit. The control unit controls display of the virtual image projected onto the target space so that the user can visually recognize the virtual image. The control unit displays the virtual image including the first attribute information representing the slope of the road surface on which the moving body is moving, according to the tilt of the moving body obtained from the data measured by the moving body. Control. The virtual image is a virtual image visually recognized by the user with depth along the road surface. The controller changes the shape of the virtual image according to an inclination angle representing the gradient of the road surface.

An information presentation system according to an aspect of the present disclosure includes the above display system and detection system. The detection system detects objects in the vicinity of the moving object.

A display system control method according to an aspect of the present disclosure is a display system control method including a control step. The control step controls display of the virtual image projected onto the target space so that the user can visually recognize the virtual image. In the control step, the display of the virtual image is controlled according to the inclination of the moving body obtained from the data measured by the moving body. The virtual image includes first attribute information representing the slope of the road surface on which the moving object is moving, and is a virtual image visually recognized by the user with depth along the road surface. In the control step, the shape of the virtual image is changed according to the inclination angle representing the gradient of the road surface.

A program according to an aspect of the present disclosure is a program for causing a computer system to execute the display system control method described above.

A mobile object according to an aspect of the present disclosure includes the display system described above, a projection unit, and a reflection member. The projection unit projects the virtual image into the target space. The reflecting member has optical transparency and reflects the light emitted from the projection unit.

The present disclosure has an advantage that it is easy to grasp the condition of the road surface on which the moving body is moving.

FIG. 1 is a conceptual diagram of an automobile equipped with a display system according to one embodiment of the present disclosure. FIG. 2 is a conceptual diagram showing the configuration of the display system and the information presentation system of the same. FIG. 3 is a conceptual diagram showing a user's field of view when using the same display system. FIG. 4 is a conceptual diagram showing the field of view of the user when the virtual image of the first content example is projected using the same display system. FIG. 5 is a conceptual diagram showing a user's field of view when projecting a virtual image (including a recommended route) of the first content example using the same display system. FIG. 6 is a flow chart showing the operation of the display system when projecting the virtual image of the first content example. 7A and 7B are bird's-eye views showing road conditions when the virtual image of the second content example is projected using the same display system. FIG. 8 is a conceptual diagram showing a user's field of view when projecting a virtual image of the second content example using the same display system. FIG. 9 is a conceptual diagram showing a user's field of view when projecting a virtual image (including auxiliary markers) of the second content example using the same display system. FIG. 10 is a flow chart showing the operation of the display system when projecting the virtual image of the second content example. 11A and 11B are conceptual diagrams showing a user's field of view when projecting a virtual image of the third content example using the same display system. FIG. 12A is a conceptual diagram showing a situation in which the automobile is positioned just before an upslope. FIG. 12B is a conceptual diagram showing the field of view of the user when the virtual image of the third content example is projected using the same display system in a situation where the car is located in front of an uphill slope. FIG. 13A is a conceptual diagram showing a situation in which the automobile is positioned at the starting point of an uphill slope. FIG. 13B is a conceptual diagram showing the field of view of the user when the virtual image of the third content example is projected using the same display system in a situation where the automobile is positioned at the starting point of an uphill slope. FIG. 14A is a conceptual diagram showing a situation in which the automobile is located in the middle of an upward slope. FIG. 14B is a conceptual diagram showing the field of view of the user when the virtual image of the third content example is projected using the same display system in a situation where the automobile is located in the middle of an uphill slope. FIG. 15A is a conceptual diagram showing a user's field of view when projecting a virtual image (including auxiliary markers) of the third content example using the same display system. FIG. 15B is a conceptual diagram showing a user's field of view when projecting a partially transmitted virtual image of the third content example using the same display system. FIG. 16 is a conceptual diagram showing a user's field of view when projecting a virtual image (marker) of the third content example using the same display system. 17A and 17B are conceptual diagrams showing a user's field of view when projecting a virtual image (road name) of the fourth content example using the same display system. FIG. 18 is a conceptual diagram showing a user's field of view when projecting a virtual image (in the direction of the road) of the fourth content example using the same display system. FIG. 19 is a conceptual diagram showing a user's field of view when projecting a virtual image of the fifth content example using the same display system. FIG. 20 is a conceptual diagram showing a user's field of view when projecting a virtual image of the sixth content example using the same display system. FIG. 21 is a conceptual diagram showing a user's visual field when projecting a virtual image of the seventh content example using the same display system. FIG. 22 is a conceptual diagram showing a user's visual field when projecting a virtual image of the eighth content example using the same display system. FIG. 23 is a conceptual diagram showing a user's field of view when projecting a virtual image of the ninth content example using the same display system.

(1) Outline Hereinafter, a display system 10 according to an embodiment of the present disclosure, an information presentation system 1000 including the display system 10, and a moving object (here, a car 100) including the display system 10 are shown in FIGS. will be used for explanation. The display system 10 of this embodiment is, for example, a head-up display (HUD) used in an automobile 100, as shown in FIGS. The display system 10 is installed in the vehicle interior of the automobile 100 so as to project an image onto the windshield 101 of the automobile 100 from below. In the example of FIG. 1, the display system 10 is arranged within 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 viewed by the user 200 (driver). In other words, the automobile 100 (moving object) includes the display system 10 and a reflecting member (here, the windshield 101). The reflecting member has optical transparency and reflects light emitted from a projection unit 40 (described later) included in the display system 10 .

According to such a display system 10 , the user 200 visually recognizes through the windshield 101 the virtual image 300 projected in the target space 400 set in front of the automobile 100 (outside the vehicle). The term "virtual image" as used herein means an image formed by the diverging rays of light emitted from the display system 10 as if there were an actual object when the light emitted from the display system 10 diverges from a reflecting object such as the windshield 101 . Therefore, the user 200 can see the virtual image 300 projected by the display system 10 superimposed on the real space spreading in front of the automobile 100 . Therefore, according to the display system 10, for example, various driving support information such as vehicle speed information, navigation information, pedestrian information, forward vehicle information, lane departure information, and vehicle condition information are displayed as the virtual image 300, and the user 200 can be made visible. As a result, the user 200 can visually acquire the driving support information only by slightly moving the line of sight from the state in which the line of sight is directed forward of the windshield 101 .

In this embodiment, the display system 10 is part of the information presentation system 1000 as shown in FIG. . Sensing system 7 is configured to sense objects in the vicinity of motor vehicle 100 . In other words, the information presentation system 1000 includes the display system 10 and the detection system 7. FIG.

In the display system 10 of this 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, as shown in FIGS. . The “first virtual image” referred to here is the virtual image 300 ( 301 ) formed on the first virtual plane 501 . The “first virtual plane” is a virtual plane whose tilt angle α with respect to the optical axis 500 of the display system 10 is smaller than a predetermined value γ (α<γ). Also, the “second virtual image” referred to here is the virtual image 300 ( 302 ) formed on the second virtual plane 502 . The “second virtual plane” is a virtual plane whose tilt angle β with respect to the optical axis 500 of the display system 10 is greater than a predetermined value γ (β>γ). The “optical axis” here means the optical axis of the projection optical system 4 (see FIG. 2), which will be described later, and the axis passing through the center of the object 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 this embodiment, the virtual image 300 formed in the target space 400 includes the first virtual image 301 and the second virtual image 302 as well as the third virtual image 303 (see FIG. 3). The “third virtual image” is, like the second virtual image 302, a virtual image 300 (303) formed on a second virtual plane 502 having an inclination angle β with respect to the optical axis 500 greater than a predetermined value γ. Of the virtual images 300 formed on the second virtual plane 502, the second virtual image 302 is the virtual image formed by the light passing through the movable screen 1a, and the second virtual image 302 is the virtual image 302 formed by the light passing through the fixed screen 1b. The formed virtual image is the third virtual image 303 .

In this 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 . A first virtual image 301 is formed on a first virtual plane 501 substantially parallel to the road surface 600 , and a second virtual image 302 and a third virtual image 303 are formed on a second virtual plane 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. 3 is a conceptual diagram showing the field of view of the user 200. As shown in FIG. That is, the display system 10 of this embodiment can display a first virtual image 301, a second virtual image 302, and a third virtual image 303, as shown in FIG. The first virtual image 301 is visually recognized by the user 200 with depth along the road surface 600 . The second virtual image 302 and the third virtual image 303 are viewed upright on the road surface 600 at a constant distance from the user 200 . Therefore, to the user 200, the first virtual image 301 appears on a plane substantially parallel to the road surface 600, and the second virtual image 302 and the third virtual image 303 appear on a plane substantially perpendicular to the road surface 600. looks like. The content of the first virtual image 301 is, for example, information indicating the traveling direction of the automobile 100 as navigation information, and can present an arrow indicating a right turn or left turn on the road surface 600 to the user 200 . The content of the second virtual image 302 is, for example, information indicating the distance to the forward vehicle or pedestrian, and it is possible to present the distance to the forward vehicle (inter-vehicle distance) to the user 200 on the forward vehicle. . The contents of the third virtual image 303 are, for example, the current time, vehicle speed information, and vehicle condition information. etc. is possible.

In particular, in the display system 10 of this embodiment, the content of the virtual image 300 has a width in the traveling direction of the automobile 100 and includes at least attribute information of the road surface 600 on which the automobile 100 is traveling. Therefore, it is possible to present the user 200 with the virtual image 300 of the road surface 600 on which the automobile 100 is traveling. The "attribute information of the road surface 600" here includes information about the road surface 600 itself, such as the slope of the road surface 600 and the name of the road including the road surface 600, as well as information about objects on the road surface 600. . Objects on the road surface 600 include, for example, other moving bodies different from the vehicle 100 moving on the road surface 600 (here, other vehicles), obstacles other than other moving bodies on the road surface 600 (for example, pedestrians). , construction sites, etc.). Details will be described later in "(4) Contents of virtual image".

(2) Configuration The display system 10 of the present embodiment, as shown in FIG. a part 6; In this 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 a target space 400 (see FIG. 1).

The multiple screens 1a, 1b include a fixed screen 1b and a movable screen 1a. The fixed screen 1b is fixed at a fixed position to the housing of the display system 10 or the like. The movable screen 1a is inclined at an angle θ with respect to the reference plane 503 . Further, the movable screen 1a is configured to be movable in a movement direction X (direction indicated by arrows X1-X2 in FIG. 2) orthogonal to the reference plane 503. As shown in FIG. 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 while maintaining a posture inclined by an angle θ with respect to the reference plane 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 called "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 a 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 is made of, for example, a rectangular plate-like member having light diffusing properties. The screen 1 is arranged between the irradiation section 3 and the projection optical system 4 .

The drive unit 2 moves the movable screen 1a in the moving direction X. As shown in FIG. Here, the driving unit 2 can move the movable screen 1a along the movement direction X in both directions toward and away from the projection optical system 4 . 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 light irradiation unit, and irradiates the movable screen 1a or the fixed screen 1b with light. The irradiation section 3 has a light source 31 and a scanning section 32 . In the irradiation section 3 , the light source 31 and scanning section 32 each operate according to the second control signal from the control section 5 .

The light source 31 is composed of a laser module that outputs laser light. The light source 31 includes a red laser diode that outputs red (R) laser light, a green laser diode that outputs green (G) laser light, and a blue laser diode that outputs blue (B) laser light. contains. The three-color laser beams output from these three types of laser diodes are synthesized by, for example, a dichroic mirror and enter the scanning section 32 .

The scanning unit 32 scans the light from the light source 31 to irradiate the movable screen 1a or the fixed screen 1b with the light that scans one surface of the movable screen 1a or the fixed screen 1b. Here, the scanning unit 32 performs a raster scan that scans light two-dimensionally with respect to one surface of the movable screen 1a or the fixed screen 1b.

The projection optical system 4 receives the light that is output from the irradiation unit 3 and passes through the screen 1 as incident light, and projects a virtual image 300 (see FIG. 1) in a target space 400 (see FIG. 1) by the incident light. Here, the projection optical system 4 is arranged so as to be aligned with the screen 1 in the moving direction X of the movable screen 1a. The projection optical system 4 has a magnifying lens 41, a first mirror 42, and a second mirror 43, as shown in FIG.

The magnifying lens 41 , the first mirror 42 and the second mirror 43 are arranged in this order on the path of the light transmitted through the screen 1 . The magnifying lens 41 is arranged on the side opposite to the irradiation unit 3 in the movement direction X when viewed from the screen 1 (first direction X1 side) so that the light output along the movement direction X from the screen 1 is incident. It is The magnifying lens 41 magnifies the image formed on the screen 1 by the light from the irradiation section 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 magnifies the image formed on the screen 1 by the light from the irradiation unit 3 with the magnifying lens 41 and projects it onto the windshield 101 , thereby projecting the virtual image 300 onto the target space 400 . . 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 microcomputer mainly composed of a CPU (Central Processing Unit) and a memory. In other words, the control unit 5 is realized by a computer having a CPU and memory, and the computer functions as the control unit 5 by the CPU executing a program stored in the memory. Although the program is pre-recorded in the memory of the control unit 5 here, it may be provided through an electric communication line such as the Internet or recorded in a recording medium such as a memory card.

The control unit 5 controls display of the virtual image 300 projected onto the target space 400 by controlling the driving 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 driving unit 2 and the operation of the irradiation unit 3 . Furthermore, the control unit 5 has functions as a drive control unit 51 and a display control unit 52, as shown in FIG.

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 as a specified position within the movement range of the movable screen 1a. The drive control unit 51 moves the movable screen 1a in order to project the first virtual image 301 and the second virtual image 302 onto the target space 400 using light transmitted through the movable screen 1a. The drive unit 2 is controlled in synchronization with drawing.

The display control unit 52 cooperates with the drive control unit 51 to display the virtual image 300 based on one or more pieces of information (also referred to as “moving body information”) acquired from the acquisition unit 6. It controls the lighting section 3 . In this embodiment, the virtual image 300 (here, the first virtual image 301) has a width in the traveling direction of the automobile 100 (moving object) and includes at least attribute information of the road surface 600 on which the automobile 100 is moving. I'm in.

The acquisition unit 6 acquires information about the position of the automobile 100 (moving object) (also referred to as “position information”), information about objects around the automobile 100 (also referred to as “ADAS information”), and information about the state of the automobile 100 (also referred to as “ 1 or more pieces of moving body information are acquired from among the "vehicle information"). That is, the attribute information included in the content of the virtual image 300 is information based on one or more of position information, ADAS information, and vehicle information.

The ADAS information is information that can be detected by a camera, sonar sensor, radar, LiDAR (Light Detection and Ranging), etc., which are detection units of an advanced driver assistance system (ADAS). In this embodiment, the acquisition unit 6 acquires ADAS information from a detection system 7 that includes an imaging device 71 and a laser radar 72 . The imaging device 71 images the space around the automobile 100 including the target space 400 . The laser radar 72 measures the distance from an object existing in the space around the automobile 100 to the automobile 100, the property of the object, and the like. Specific examples of ADAS information include the distance from a moving object to a vehicle moving around the automobile 100, the relative coordinates of this vehicle with respect to the automobile 100, the inter-vehicle distance between a plurality of vehicles, and the relative speed of these vehicles. There is Here, the objects around the automobile 100 in the ADAS information include vehicles running or stopped around the automobile 100, structures such as guardrails, pedestrians, small animals, and the like.

The vehicle information is information representing the local state of the vehicle 100 itself, and is information that can be detected by a sensor mounted on the vehicle 100 . Specific examples of vehicle information include the moving speed (driving speed) of the automobile 100, the acceleration applied to the automobile 100, the amount of depression of the accelerator pedal (accelerator opening), the amount of depression of the brake pedal, the steering angle, and the inclination of the vehicle, There is an inclination of the seat in the vehicle. The vehicle information also includes the driver's pulse, facial expression, line of sight, and the like detected by the driver monitor. Further, the vehicle information also includes data unique to the vehicle 100, such as vehicle width, vehicle height, overall length, and eye point.

The position information is information based on the position of the vehicle 100, and is information that can be detected using a positioning system such as GPS (Global Positioning System), such as road information at the position of the vehicle. Specific examples of position information include the number of lanes on the road at the position of the vehicle, whether it is an intersection, whether it is a T-junction, whether it is a one-way street, the width of the road, whether there is a sidewalk, the slope, and the curvature of the curve. .

(3) Operation The basic operation of the display system 10 of this embodiment will be described below. The control unit 5 controls the irradiation unit 3 to irradiate light from the irradiation unit 3 onto the movable screen 1a. At this time, the irradiation unit 3 irradiates the movable screen 1a with light that scans one surface of the movable screen 1a. As a result, an image is formed (projected) on the movable screen 1a. Furthermore, the light from the irradiation unit 3 is transmitted through the movable screen 1 a and is irradiated onto the windshield 101 from the projection optical system 4 . As a result, the image formed on the movable screen 1a is projected onto the windshield 101 from below the windshield 101 in the vehicle 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) inside the vehicle. Thereby, 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 (the first virtual image 301 or the second virtual image 302 ) projected in front of the automobile 100 (outside the vehicle) through the windshield 101 .

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

Here, the control unit 5 controls the driving unit 2 to move the movable screen 1a in the moving direction X while the movable screen 1a is being irradiated with the light from the irradiation unit 3 . 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 distance from the eye (eye point) of the user 200 to the virtual image 300 is increased. distance (also called “viewing distance”) becomes shorter. Conversely, when the positions of the bright spots on one surface of the movable screen 1a are the same, the viewing distance to the virtual image 300 becomes longer (farther) when the movable screen 1a moves in the second direction X2. That is, the visual distance to the virtual image 300 changes depending on the position of the movable screen 1a in the moving direction X. FIG.

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 fixes the movable screen 1a at the position after the movement. One surface of the movable screen 1a is scanned with light. 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 moves the movable screen 1a so that the distance in the X direction from the bright point to the projection optical system 4 is constant based on the position after the movement, while scanning light onto one surface of the movable screen 1a. Let

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

In the display system 10 of the present embodiment, the first virtual image 301, the first Both the second virtual image 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, and then projects the first virtual image 301 on the movable screen 1a in the "outward path" in which light is scanned in order of the movable screen 1a and the fixed screen 1b. A third virtual image 303 is projected by irradiating light onto 1b. Then, in the “return pass” in which light is scanned in order of the fixed screen 1b and the movable screen 1a, the projection unit 40 first irradiates the fixed screen 1b with light to project the third virtual image 303, and then projects the light onto the movable screen 1a. 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 onto the target space 400 during one period of scanning by the scanning unit 32 in the vertical direction. Since the irradiation unit 3 scans in the vertical direction at a relatively high speed, the user 200 sees the first virtual image 301, the third virtual image 303, and the second virtual image 302 as if they were displayed at the same time. The vertical scanning frequency of the irradiation unit 3 is, for example, 60 Hz or more.

(4) Contents of Virtual Image Hereinafter, examples of contents of the virtual image 300 projected onto the target space 400 by the display system 10 of the present embodiment will be listed. Content examples of the virtual image 300 described below can be appropriately combined and applied. Also, the virtual image 300 described below can be projected onto the target space 400 regardless of whether the navigation system is used or not, except for the ninth content example.

(4.1) First Content Example In the first content example, the virtual image 300 consists of markers 310 as shown in FIG. A marker 310 is the first virtual image 301 and represents the predicted route of the automobile 100 (moving body). The “predicted route” referred to here is the route that the automobile 100 is predicted to travel if the user 200 maintains the current steering operation. Also, the marker 310 has a shape that avoids other vehicles 110 in the specific area A1 (see the dashed line in FIG. 4; the same applies to FIG. 5). Furthermore, in the marker 310, the boundary line with the other vehicle 110 in the specific area A1 is a relatively thick line. Here, the specific area A<b>1 is an area in the traveling direction of the automobile 100 and where the predicted route overlaps with another automobile 110 . The specific area A1 has a shape that avoids other vehicles 110 as described above, and the boundary line with the other vehicles 110 is a relatively thick line, so that the vehicle 100 cannot enter the specific area A1. indicates that it is possible. That is, in this content example, the attribute information of the virtual image 300 is information indicating whether or not the vehicle 100 can enter the specific area A1 in the traveling direction of the vehicle 100 .

In this content example, the virtual image 300 is displayed, for example, when the road surface 600 satisfies a predetermined criterion. The predetermined criterion is met when a plurality of vehicles cannot travel side by side because the road surface 600 is in a narrow section or there is a construction site, for example. Further, in this content example, when the automobile 100 cannot enter the specific area A1, the control unit 5, as shown in FIG. 311 (virtual image 300) is displayed.

An example of the operation of the display system 10 when projecting the virtual image 300 of this content example will be described below with reference to FIG. The processing from "START" to "END" in FIG. 6 is repeated according to the acquisition cycle of the acquisition unit 6 (for example, 30 times per second). First, the control unit 5 acquires one or more pieces of mobile object information (for example, road information at the position of the vehicle, object information around the vehicle, etc.) from the acquisition unit 6 (step S101). Then, the control unit 5 constructs a pseudo space (virtual 3D space) simulating the target space 400 based on the acquired one or more pieces of mobile body information (step S102).

Next, the control unit 5 determines whether the road surface 600 on which the automobile 100 is traveling satisfies a predetermined standard (step S103). If the road surface 600 does not meet the predetermined criteria (step S103: No), the road surface 600 is not a narrow section, so the control unit 5 does not perform subsequent processing and executes step S101 again. On the other hand, if the road surface 600 satisfies the predetermined criteria (step S103: Yes), the control unit 5, based on one or more moving object information (for example, vehicle width, steering angle, azimuth information, etc.) acquired from the acquisition unit 6 , the predicted route is drawn in the pseudo space (step S104).

Next, the control unit 5 determines whether or not an object exists on the predicted route (step S105). If there is an object (for example, another vehicle 110) on the predicted route (step S105: Yes), the control unit 5 draws entry prohibition information in the pseudo space (step S106). The entry prohibition information is information indicating that the automobile 100 cannot enter the specific area A1. Then, if there is a route that can avoid the object, the control unit 5 draws the recommended route in the pseudo space (step S107). After that, the control unit 5 controls the driving unit 2 and the irradiation unit 3 to project the content drawn in the pseudo space onto the object space 400 as the virtual image 300 (step S108). As a result, the marker 310 representing the predicted route and the marker 311 representing the recommended route are projected onto the road surface 600 in the target space 400 .

On the other hand, if no object exists on the predicted route (step S105: No), the control unit 5 determines whether or not an object exists in the target space 400 (step S109). If an object exists in the target space 400 (step S109: Yes), the control unit 5 draws the recommended route in the pseudo space (step S107), and then executes step S108. On the other hand, if no object exists in the target space 400 (step S109: No), the control unit 5 executes step S108 without drawing the recommended route in the pseudo space.

A situation in which the process of step S109 is executed will be described. For example, after the marker 311 is projected onto the object space 400, when the user 200 operates the steering wheel according to the marker 311, the predicted route changes. Then, when the predicted route substantially matches the recommended route, there is no object on the predicted route. In this situation, when an object exists in the target space 400 (here, when another car 110 exists in front of the car 100), the marker 311 continues to be projected in the target space 400. FIG. On the other hand, when the vehicle 100 passes by the other vehicle 110 and no object exists in the target space 400 , the marker 311 is no longer projected in the target space 400 .

As described above, in this content example, the virtual image 300 representing whether or not the vehicle 100 can enter the specific area A1 in the traveling direction of the vehicle 100 is projected onto the target space 400 . Therefore, there is an advantage that the user 200 can easily determine whether or not it is necessary to change the traveling direction of the vehicle 100 by visually recognizing the virtual image 300 . Further, in this content example, when the automobile 100 cannot enter the specific area A1, the virtual image 300 representing the avoidance route is projected onto the target space 400 . Therefore, there is an advantage that the user 200 can easily select to avoid the specific area A1 that cannot be entered by visually recognizing the virtual image 300 .

In this content example, the processing of steps S101 and S102 among the processing by the control unit 5 may be performed after the processing of step S103 instead of before the processing of step S103. In this case, the processes of steps S101 and S102 are executed only when the road surface 600 meets the predetermined criteria.

In this content example, the color of the specific area A1 in the marker 310 may be different from the color of the portion other than the specific area A1 when the automobile 100 cannot enter the specific area A1. In this aspect, it is easy for the user 200 to perceive that the automobile 100 cannot enter the specific area A1.

In this content example, the control unit 5 may project a virtual image 300 representing that the automobile 100 is stopped in the target space 400 when there is no route that can avoid the object. In this aspect, it is easy for the user 200 to perceive that the automobile 100 should be stopped.

(4.2) Second content example In the second content example, as shown in FIGS. 7A and 7B, the virtual image 300 moves from the first lane 601 on which the automobile 100 (moving object) is traveling to another lane 602. It is projected onto the target space 400 in a lane change situation. FIG. 7A shows a road surface 600 situation in which the vehicle 100 can change lanes without accelerating or decelerating. FIG. 7B shows a road surface 600 in which another vehicle 110 is running parallel to the vehicle 100 and the vehicle 100 cannot change lanes unless the vehicle 100 accelerates.

In the situation shown in FIG. 7A, when the user 200 operates the direction indicator to change lanes, a virtual image 300 consisting of two markers 312 and 313 is projected onto the target space 400 as shown in FIG. The marker 312 is the first virtual image 301 and represents the specific area A1 in the second lane 602 different from the first lane 601 on which the automobile 100 is traveling. The specific area A1 changes color (or shape) depending on whether the automobile 100 can enter (that is, can change lanes) or not. Marker 313 is first virtual image 301 and represents a plurality of (here, two) arrows for prompting user 200 to change lanes. Markers 313 are projected into object space 400 only if vehicle 100 is accessible.

In the situation shown in FIG. 7A , when the user 200 operates the direction indicator, the control unit 5 acquires one or more moving body information (for example, vehicle speed, object information around the own vehicle, etc.) acquired from the acquisition unit 6. to determine whether or not the vehicle 100 can enter the specific area A1. Here, the control unit 5 also uses detection information from a BSM (Blind Spot Monitor) system as one piece of mobile information. The hatched lines in FIG. 7A represent the detection area of the BSM system.

On the other hand, in the situation shown in FIG. 7B, when the user 200 operates the direction indicator to change lanes, a virtual image 300 composed of three markers 312, 313, and 314 is projected onto the target space 400 as shown in FIG. . The marker 314 is the first virtual image 301 and represents a plurality of (here, three) arrows for prompting the user 200 to accelerate or decelerate (here, accelerate).

In the situation shown in FIG. 7B , when the user 200 operates the direction indicator, the control unit 5 causes the vehicle 100 to accelerate or decelerate based on one or more pieces of moving body information acquired from the acquisition unit 6, thereby moving the specific area A1. determines whether or not it is possible to enter the Here, the control unit 5 uses information such as the vehicle speed, object information around the own vehicle, relative speed with respect to other automobiles 110, and the like, as mobile object information. Of course, the control unit 5 may use detection information from the BSM system.

That is, in this content example as well, as in the first content example, the attribute information of the virtual image 300 is information indicating whether or not the automobile 100 can enter the specific area A1 in the traveling direction of the automobile 100 . In addition, in this content example, the specific area A1 is in a lane (second lane 602) different from the lane (first lane 601) in which the automobile 100 moves.

An example of the operation of the display system 10 when projecting the virtual image 300 of this content example will be described below with reference to FIG. The processing from "START" to "END" in FIG. 10 is repeated according to the acquisition cycle (for example, 30 times per second) by the acquisition unit 6. FIG. First, the control unit 5 acquires one or more moving body information from the acquisition unit 6 (step S201). Then, the control unit 5 constructs a pseudo space (virtual 3D space) simulating the target space 400 based on the acquired one or more pieces of mobile body information (step S202).

Next, the control unit 5 determines whether or not the direction indicator is in operation (step S203). If the direction indicator is not in operation (step S203: No), the user 200 does not intend to change lanes, so the control unit 5 does not perform subsequent processing and executes step S201 again. On the other hand, if the direction indicator is in operation (step S203: Yes), the control unit 5, based on the one or more pieces of mobile body information acquired from the acquisition unit 6, determines the specific area A1 that can enter the second lane 602. exists (step S204).

If there is a specific area A1 that can enter the second lane 602 (step S204: Yes), the control unit 5 draws the specific area A1 that can enter the second lane 602 in the pseudo space (step S205). Further, the control unit 5 draws information prompting a lane change on the first lane 601 in the pseudo space (step S206). After that, the control unit 5 controls the driving unit 2 and the irradiation unit 3 to project the content drawn in the pseudo space onto the target space 400 as the virtual image 300 (step S207). As a result, in the target space 400, a marker 312 representing the specific area A1 is projected onto the second lane 602, and a marker 313 for prompting a lane change is projected onto the first lane 601. FIG.

On the other hand, when there is no entering specific area A1 in the second lane 602 (step S208), the control unit 5 determines whether or not the entering accessible specific area A1 is generated due to the acceleration or deceleration of the automobile 100. (Step S208). If the enterable specific area A1 is generated (step S208: Yes), the control unit 5 draws the enterable specific area A1 on the second lane 602 in the pseudo space (step S209). Further, the control unit 5 draws information prompting a lane change and information prompting acceleration or deceleration on the first lane 601 in the pseudo space (step S210). After that, the control unit 5 controls the driving unit 2 and the irradiation unit 3 to project the content drawn in the pseudo space onto the target space 400 as the virtual image 300 (step S207). As a result, in the target space 400, a marker 312 representing the specific area A1 is projected onto the second lane 602, and a marker 313 for prompting a lane change and a marker 314 for prompting acceleration or deceleration are projected onto the first lane 601. .

On the other hand, if no enterable specific area A1 is generated (step S208: No), the control section 5 draws entry impossibility information in the pseudo space (step S211). The entry-impossible information is information indicating that the vehicle 100 cannot enter the specific area A1 (that is, cannot change lanes). After that, the control unit 5 controls the driving unit 2 and the irradiation unit 3 to project the content drawn in the pseudo space onto the target space 400 as the virtual image 300 (step S207). As a result, in the target space 400 , the marker 312 representing the impenetrable specific area A1 is projected onto the second lane 602 .

As described above, in this content example, the virtual image 300 representing whether or not the vehicle 100 can enter the specific area A1 on the second lane 602 is projected onto the target space 400 . Therefore, there is an advantage that the user 200 can easily determine whether or not to change lanes by visually recognizing the virtual image 300 .

In this content example, the processing of steps S201 and S202 of the processing by the control unit 5 may be performed after the processing of step S203 instead of before the processing of step S203. In this case, the processes of steps S201 and S202 are executed only when it is determined that the direction indicator is in operation.

By the way, the virtual image 300 of this content example may be projected onto the target space 400 in a situation where the automobile 100 is parked on the shoulder of the road, for example. This is because the user 200 operates the direction indicator when the vehicle 100 is to be parked on the shoulder of the road, as in the case of changing lanes. In this case, the specific area A1 exists on the shoulder of the first lane 601 instead of the second lane 602 .

(4.3) Third Content Example In the third content example, the virtual image 300 consists of markers 315 as shown in FIGS. 11A and 11B. A marker 315 is an arrow-shaped first virtual image 301 representing the gradient of the road surface 600 on which the automobile 100 (moving body) is traveling. In FIG. 11A, the marker 315 has a shape in which the shaft of the arrow tapers from the near side to the far side, and has the character string "UP". In FIG. 11A, marker 315 indicates that road surface 600 is uphill 610 . In FIG. 11B, the marker 315 has a shape in which the shaft of the arrow becomes thicker from the near side to the far side, and has the character string "DOWN". In FIG. 11B, marker 315 indicates that road surface 600 is downhill 611 . That is, in this content example, the attribute information of the virtual image 300 is information representing the gradient of the road surface 600 on which the automobile 100 is moving.

In this example of content, the virtual image 300 is displayed, for example, from when the automobile 100 is positioned before the slope until it reaches the road surface 600 with no slope. Specifically, the control unit 5 moves the marker 315 to the target space 400 based on one or more moving body information (for example, road information at the position of the vehicle, vehicle speed, inclination of the vehicle, etc.) acquired from the acquisition unit 6 . The display of the virtual image 300 is controlled so that it is superimposed and projected on the road surface 600 at .

As described above, in this content example, the virtual image 300 representing the gradient of the road surface 600 on which the automobile 100 is traveling is projected onto the target space 400 . Therefore, by visually recognizing the virtual image 300 , the user 200 can grasp whether the road surface 600 is an upslope 610 or a downslope 611 , and has the advantage that it is easy to drive according to the slope of the road surface 600 . In particular, the virtual image 300 of this content example is effective when it is difficult for the user 200 to notice that there is a slope due to the structure or scenery of the road surface 600, for example. For example, if the user 200 is driving without noticing the uphill slope 610, the automobile 100 will naturally decelerate, which may lead to traffic congestion. Also, for example, if the user 200 is driving without noticing the downward slope 611, the vehicle 100 may naturally accelerate, resulting in the possibility that the distance to another vehicle ahead becomes narrower than necessary. There is Even in such a case, the user 200 can appropriately accelerate or decelerate by visually recognizing the virtual image 300 .

Although the markers 315 shown in FIGS. 11A and 11B have the strings "UP" and "DOWN" respectively, they are not intended to be limiting. For example, none of the markers 315 shown in FIGS. 11A and 11B may have text. Also, the marker 315 shown in FIGS. 11A and 11B may be composed of a moving image instead of a still image. For example, the marker 315 shown in FIG. 11A may be a moving image that undulates toward the near side as time passes. Also, for example, the marker 315 shown in FIG. 11B may be a moving image that undulates toward the depth side as time passes.

Here, it is preferable that the attribute information of the virtual image 300 changes according to the position of the automobile 100 with respect to the gradient. Specifically, based on one or more pieces of mobile body information acquired from the acquisition unit 6, the control unit 5 calculates in advance the slope of the road surface 600 ahead and the coordinates at which the slope changes. Then, the control unit 5 changes the shape of the marker 315 (here, the shape of the shaft of the arrow) with the coordinates as a starting point according to the inclination angle of the gradient.

A specific example of the virtual image 300 when the automobile 100 runs on an uphill slope 610 will be described below with reference to FIGS. 12A to 14B. First, as shown in FIG. 12A, when the vehicle 100 approaches an upslope 610, a marker 315 as shown in FIG. 12B is projected onto the target space 400. In this marker 315, the width of the shaft of the arrow and the rate of change of the width are different between the marker 315A on the near side and the marker 315B on the far side, with the starting position of the upward slope 610 as a boundary. After that, as shown in FIGS. 13A and 14A, when automobile 100 starts traveling on uphill slope 610, marker 315 as shown in FIGS. In these markers 315 , the shaft of the arrow narrows as the tilt of the vehicle 100 approaches the tilt angle of the uphill 610 .

As described above, when the virtual image 300 changes according to the position of the vehicle 100 with respect to the slope, the user 200 visually recognizes the virtual image 300 before the vehicle 100 approaches the slope. It is possible. Moreover, in this configuration, there is an advantage that the user 200 can easily drive while being aware of the inclination of the road surface 600 by recognizing the virtual image 300 .

In this content example, an auxiliary marker 316 may be projected onto the target space 400 in addition to the marker 315, for example, as shown in FIG. 15A. The auxiliary marker 316 is the first virtual image 301 and has an arrow shape that draws an upwardly convex arch. In the example shown in FIG. 15A , the auxiliary marker 316 indicates that the road surface 600 has a downward slope 611 . In this case, there is an advantage that the user 200 visually recognizes not only the marker 315 but also the auxiliary marker 316 so that the slope of the road surface 600 can be more intuitively recognized.

Further, in this content example, as shown in FIG. 15B , the marker 315 is projected onto the target space 400 in such a manner that a portion of the marker 315 can be seen through by changing a portion of the transmittance or color. good too. In the example shown in FIG. 15B , the portion of the marker 315 that extends down the slope 611 is shown in such a way that the road surface 600 is transparent. Also in this case, there is an advantage that the user 200 can more intuitively recognize the slope of the road surface 600 by visually recognizing the marker 315 .

Also, in this example of content, an arrow-shaped marker 315 is projected as the virtual image 300 into the target space 400, but the present invention is not limited to this. For example, as shown in FIG. 16 , a sign marker 315 representing the speed limit (here, 50 kilometers per hour) on the road surface 600 may be projected as a virtual image 300 onto the target space 400 . In this case, there is an advantage that the user 200 can easily recognize two pieces of information, namely, the gradient of the road surface 600 and the speed limit on the road surface 600 , by visually recognizing the marker 315 . In addition, the marker 315 may be composed of, for example, an icon other than a sign, or may be composed of a character string such as "with gradient". In other words, the marker 315 may be in any form as long as it represents at least the gradient of the road surface 600 .

(4.4) Fourth Content Example In the fourth content example, as shown in FIG. 17A, the virtual image 300 is composed of a marker 317 consisting of two markers 317A and 317B. A marker 317A is the first virtual image 301 and represents the predicted route of the automobile 100 (moving body). The marker 317B is the first virtual image 301 and represents the name of the road on which the automobile 100 is traveling (here, national road □□□), and is projected superimposed on the marker 317A. That is, in this content example, the attribute information of the virtual image 300 is information representing the name of the road including the road surface 600 on which the automobile 100 is moving.

In this content example, the virtual image 300 is always displayed while the automobile 100 is being driven, for example. Specifically, the control unit 5 determines whether the marker 317 is positioned on the road surface 600 in the target space 400 based on one or more moving body information (for example, steering angle, road information at the vehicle position, etc.) acquired from the acquisition unit 6. The display of the virtual image 300 is controlled so that it is superimposed and projected.

As described above, in this content example, the virtual image 300 representing the name of the road on which the automobile 100 is traveling is projected onto the target space 400 . Therefore, there is an advantage that the user 200 can easily drive while grasping where he or she is going by visually recognizing the virtual image 300 .

In this content example, the name of the road represented by the marker 317B is a national road, but it may be a prefectural road, a prefectural road, a city road, or the like. Further, in this content example, the name of the road represented by the marker 317B may be, for example, a line (here, XX line) as shown in FIG. good too.

In addition, in this content example, the marker 317B may represent the direction in which the automobile 100 is traveling (here, direction ΔΔ), as shown in FIG. 18, for example. That is, in this content example, the attribute information of the virtual image 300 may be information representing the direction of the road including the road surface 600 on which the automobile 100 is moving. In this case, not only the marker 317 indicating the direction of the lane (the first lane 601) in which the automobile 100 is traveling, but also the marker 317 indicating the direction of the other lane (the second lane 602) (here, the direction of XX) may also be projected into the object space 400 .

(4.5) Fifth Content Example In the fifth content example, the virtual image 300 is composed of a plurality of (here, three) markers 318 as shown in FIG. 19, and is a moving image. In this example of content, the plurality of markers 318 are not the first virtual image 301 having a width in the traveling direction of the automobile 100, but the second virtual image 302 that is visually recognized upright on the road surface 600 at a certain distance from the user 200. be. However, in this content example, the virtual image 300 is visually recognized by the user 200 as an image having a width in the traveling direction of the automobile 100 as a whole by projecting a plurality of markers 318 as moving images onto the target space 400. . Below, the marker 318 at the foremost of the three markers 318 is also called "marker 318A", the marker 318 at the farthest is "marker 318C", and the marker between markers 318A and 318C is also called "marker 318B".

In this content example, the virtual image 300 is projected onto the target space 400 when the automobile 100 enters in front of a curve 603 having a curvature of a predetermined value or more. Specifically, the control unit 5 determines whether or not there is a curve 603 in front of the automobile 100 based on one or more mobile object information (for example, road information at the position of the vehicle) acquired by the acquisition unit 6. to decide. Then, when the control unit 5 determines that the curve 603 exists in front of the automobile 100, the three markers 318 are projected as virtual images above the curve 603 in the target space 400 (above the guardrail in FIG. 19). 300 display. Here, the curve 603 bends to the left when viewed from the automobile 100, so the three markers 318 are all projected onto the object space 400 as icons including leftward arrow graphics. Of course, if the curve 603 bends to the right as seen from the vehicle 100, the three markers 318 are all projected into the object space 400 as icons containing rightward arrow graphics.

At this time, the control unit 5 creates the virtual image 300 so that the three markers 318 are projected in the order of marker 318A, marker 318B, marker 318C, marker 318A, . Control display. Also, the three markers 318 are placed in the object space 400 so that the icon moves leftward and the size of the icon decreases as the distance from the automobile 100 increases (that is, as the viewing distance increases). projected. Therefore, the user 200 sees the three markers 318 as if they are moving smoothly along the curve 603 .

As described above, in this content example, the virtual image 300 is projected in the target space 400 as a moving image when the automobile 100 approaches the curve 603 having a curvature of a predetermined value or more. Therefore, by viewing the virtual image 300, the user 200 can easily drive while intuitively grasping the change in the depth of the road surface 600, the curvature of the curve 603, and the direction of the curve 603. In particular, the virtual image 300 is effective at night when the user 200 has a harder time to grasp the sense of distance than during the day. That is, even if user 200 does not notice the existence of curve 603 because it is dark ahead, user 200 can notice the existence of curve 603 by visually recognizing virtual image 300 .

In addition, in this content example, since the virtual image 300 is a moving image, it is possible to project a plurality of markers 318 one by one in one frame. Here, if the display system 10 is configured to simultaneously project a plurality of markers 318 onto one frame, the volume of the display system 10 increases, and there is a possibility that it cannot be mounted on the automobile 100 . On the other hand, according to this content example, the display system 10 is configured to project a plurality of markers 318 one by one in one frame. There is an advantage that the resistance can be reduced. Moreover, according to this content example, there is an advantage that the user 200 can easily gaze at the condition of the road surface 600 represented by the virtual image 300 compared to the case where the virtual image 300 is a still image.

By the way, in this content example, the virtual image 300 is projected above the curve 603 in the target space 400, but it is not intended to be limited to this. For example, the virtual image 300 may be projected so as to overlap the road surface 600 in the target space 400 . In this case, all of the multiple markers 318 may be projected onto the target space 400 as the first virtual image 301 .

(4.6) Sixth Content Example In the sixth content example, the virtual image 300 consists of two markers 319A and 319B, as shown in FIG. Hereinafter, when the two markers 319A and 319B are not particularly distinguished, each of the two markers 319A and 319B may be called "marker 319". The marker 319A is the first virtual image 301, and represents another road surface 604 connected to the road surface 600 on which the automobile 100 (moving body) is traveling, and which the automobile 100 can enter. . Here, the other road surface 604 is the entrance to a highway. A marker 319B is the second virtual image 302 and represents the destination of another road surface 604 indicated by the marker 319A. Here, marker 319B is an icon that schematically represents a highway, and is projected over marker 319A.

That is, in this content example, the attribute information of the virtual image 300 is information representing other road surfaces 604 that the automobile 100 can enter, among other road surfaces 604 connected to the road surface 600 on which the automobile 100 is moving. Therefore, although not shown in FIG. 20, even if the other road surface 604 is connected to the road surface 600, the other road surface 604 (for example, a one-way road surface) where the automobile 100 cannot enter is marked with a marker 319. is not projected.

In this content example, the virtual image 300 is always displayed while the automobile 100 is being driven, for example. Specifically, the control unit 5 superimposes the marker 319 on another road surface 604 in the target space 400 based on one or more pieces of moving body information (for example, road information at the position of the vehicle) acquired from the acquisition unit 6. The display of the virtual image 300 is controlled so that it is projected as

As described above, in this content example, the virtual image 300 is projected onto the target space 400 to represent the road surface 604 that is connected to the road surface 600 on which the automobile 100 is traveling and which can be entered. Therefore, there is an advantage that the user 200 can easily drive the car 100 while considering other routes different from the current route by visually recognizing the virtual image 300 . For example, when the user 200 recognizes that there is an entrance to a highway by visually recognizing the virtual image 300, there is an advantage that it is possible to select a route such as traveling on a general road or traveling on a highway. be.

In this example of content, the other road surface 604 that the automobile 100 can enter is, for example, the entrance of a parking lot, the entrance of a store, and the like. Also, in this example of content, the marker 319B indicating the destination of another road surface 604 that the automobile 100 can enter is projected onto the target space 400, but the marker 319B does not have to be projected.

(4.7) Seventh Content Example In the seventh content example, the virtual image 300 consists of a plurality of markers 320 as shown in FIG. Each of the plurality of markers 320 is projected onto the target space 400 as an arrow oriented along the traveling direction of the automobile 100 (moving body). When the plurality of markers 320 are visually recognized by the user 200, the user 200 may have the illusion that the vehicle 100 is accelerating, and the user 200 may have the illusion that the vehicle speed of the automobile 100 is faster than the actual vehicle speed. That is, in this content example, the content of the virtual image 300 is information that gives the user 200 driving the automobile 100 the illusion that the vehicle is accelerating.

In this content example, the virtual image 300 is displayed, for example, when the vehicle speed of the automobile 100 exceeds a threshold speed (here, the speed limit of the road on which the automobile 100 is traveling). Specifically, based on one or more moving object information (for example, road information at the position of the vehicle, vehicle speed of the vehicle, etc.) acquired from the acquisition unit 6, the control unit 5 moves the plurality of markers 320 into the target space 400. The display of the virtual image 300 is controlled so that it is superimposed and projected on the road surface 600 at .

As described above, in this content example, for example, when the vehicle speed of the automobile 100 exceeds the speed limit, the virtual image 300 that gives the user 200 the illusion that the vehicle is accelerating is projected onto the target space 400 . Therefore, by visually recognizing the virtual image 300, the user 200 recognizes that the current vehicle speed is too fast, and tries to reduce the current vehicle speed by stepping on the brake or the like. That is, according to this content example, there is an advantage that it is possible to prompt the user 200 to keep the current vehicle speed below the speed limit by making the user 200 visually recognize the virtual image 300 .

Here, if the vehicle 100 is configured to sound a warning sound when the vehicle 100 exceeds the speed limit, the frequent sounding of the warning sound may cause discomfort to the user 200 . On the other hand, in this content example, there is an advantage that the possibility of giving discomfort to the user 200 can be reduced by displaying the virtual image 300 instead of sounding the warning sound. Further, for example, a specific road such as a tunnel may be painted to give the user 200 the illusion that the vehicle is accelerating, but the places where such paint is applied are limited. On the other hand, according to this content example, there is an advantage that it is possible to make the user 200 feel that the vehicle is accelerating at any time regardless of the presence or absence of the paint.

In this content example, the virtual image 300 is not limited to the multiple markers 320 described above, and may be in another form. In other words, the virtual image 300 may have any aspect as long as it can make the user 200 feel that the user 200 is accelerating.

(4.8) Eighth Content Example In the eighth content example, as shown in FIG. 22, the virtual image 300 is composed of a marker 321 consisting of two markers 321A and 321B. The marker 321A is the first virtual image 301 and represents the past route actually traveled by the automobile 100 (moving body). Here, it is assumed that the current route and the past route have the same departure position and destination position, and that the road on which the automobile 100 travels is the same, such as a circuit or a route taken during commuting. A marker 321B is the first virtual image 301 and represents the difference between the time required for the current route from the starting position to the current position and the time required for the past route. Here, since the required time for the current route exceeds the required time for the past route by 0.5 seconds, the marker 321B consisting of the character string "+0.5s" is projected superimposed on the marker 321A. In other words, in this content example, the content of the virtual image 300 represents a past route in which the current route on which the automobile 100 is traveling has the same starting position and destination position, and the road on which the automobile 100 travels is the same. Information.

In this content example, the virtual image 300 is displayed, for example, when the automobile 100 starts driving. Specifically, the control unit 5 stores the past route with the shortest required time from the departure position to the destination position among the past routes. Then, when the automobile 100 starts driving, the control unit 5 controls the display of the virtual image 300 so that the marker 321A is superimposed and projected on the road surface 600 in the target space 400 . The information included in the marker 321A is information based on one or more moving body information (for example, road information at the position of the vehicle) acquired from the acquisition unit 6. FIG. In addition, the control unit 5 compares the time required for the current route from the starting position to the current position with the time required for the past route in real time so that the marker 321B is projected so as to overlap the marker 321A. , controls the display of the virtual image 300 . After that, when the automobile 100 reaches the destination position, if the time required for the current route from the departure position to the destination position is shorter than the time required for the past route, the control unit 5 changes the current route to the past route. remember as

As described above, in this content example, for example, when the user 200 starts driving the automobile 100 , the virtual image 300 representing the past route is projected onto the target space 400 . Therefore, according to this content, the user 200 can visually recognize the virtual image 300 and compare the current route with the past route, thereby driving while searching for the optimum route to the destination position. It has the advantage of being possible.

By the way, it is optional whether or not to start projecting the virtual image 300 of this content example when the automobile 100 starts to be driven. For example, when the automobile 100 is driven on a different route than when commuting, such as when driving on a holiday, comparison with past routes is meaningless. In such a case, there is no need for the display system 10 to project the virtual image 300 of this content example onto the target space 400 .

(4.9) Ninth Content Example In the ninth content example, as shown in FIG. 23, the virtual image 300 is composed of a marker 322 and a marker 323 consisting of two markers 323A and 323B. A marker 322 is the first virtual image 301 and represents the current guidance route by the navigation system. A marker 323A is the first virtual image 301 and represents the guidance route after re-searching by the navigation system. A marker 323B is the first virtual image 301 and represents the difference between the estimated time required for the current guidance route from the current position to the destination position and the estimated time required for the guidance route after re-searching. there is Here, the estimated required time for the guidance route after re-searching is 5 minutes shorter than the estimated required time for the current guidance route. Projected on top of each other. That is, in this content example, the content of the virtual image 300 is information representing the current guidance route by the navigation system and the guidance route after re-searching.

In this content example, the virtual image 300 is displayed when the user 200 re-searches the guidance route to the destination position using the navigation system, for example, due to traffic congestion on the current guidance route. Specifically, based on one or more moving body information (for example, road information at the position of the vehicle) acquired from the acquisition unit 6, the control unit 5 causes the markers 321 and 322 to be projected on the road surface 600. , controls the display of the virtual image 300 . Here, a marker 321 is projected on the first lane 601 of the road surface 600 where traffic congestion occurs, and a marker 322 is projected on the second lane 602 branching from the first lane 601 .

As described above, in this content example, when the user 200 re-searches the guidance route to the target position using the navigation system, the virtual image 300 representing the current guidance route and the guidance route after re-searching is displayed in the target space 400. projected. For this reason, according to this content, the user 200 visually recognizes the virtual image 300 and compares the current guidance route with the guidance route after re-searching. ) is easy to grasp.

(5) Modifications The above-described embodiment is merely one of various embodiments of the present disclosure. The above-described embodiment can be modified in various ways according to design and the like, as long as the object of the present disclosure can be achieved. Also, functions similar to those of the display system 10 may be embodied by a control method of the display system 10, a computer program, or a recording medium recording the program.

A control method of the display system 10 according to one aspect is a control method of the display system 10 including the projection unit 40 and the control unit 5 . The projection unit 40 projects the virtual image 300 onto the target space 400 . The control unit 5 controls display of the virtual image 300 . The control method of the display system 10 displays a virtual image 300 that has a width in the traveling direction of the moving object (here, the automobile 100) and has the content representing at least the attribute information of the road surface 600 on which the moving object is moving.

A program according to one aspect is a program for causing a computer system to execute the control method of the display system 10 described above.

The execution subject of the display system 10 or the control method in the present disclosure includes a computer system. A computer system is mainly composed of a processor and a memory as hardware. The processor executes the program recorded in the memory of the computer system, thereby realizing the function as the execution subject of the system or method in the present disclosure. The program may be prerecorded in the memory of the computer system, or may be provided through an electric communication line. Also, the program may be provided by being recorded on a non-temporary recording medium such as a computer system-readable memory card, optical disk, hard disk drive, or the like. A processor in a computer system consists of one or more electronic circuits, including semiconductor integrated circuits (ICs) or large scale integrated circuits (LSIs). A plurality of electronic circuits may be integrated into one chip, or may be distributed over a plurality of chips. A plurality of chips may be integrated in one device, or may be distributed in a plurality of devices.

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

In addition, the display system 10 communicates directly between vehicles (vehicle-to-vehicle) or between vehicles and infrastructure such as traffic lights and road signs (road-to-vehicle). to Everything) communication technology may be used. According to the V2X communication technology, for example, the automobile 100 can acquire mobile information from surrounding vehicles or infrastructure. Also, the content of the virtual image 300 projected onto the target space 400 may be determined by infrastructure, and in this case, at least part of the control unit 5 may not be mounted on the vehicle 100 .

Further, the display system 10 is not limited to the configuration in which the virtual image 300 is projected in the target space 400 set in front of the traveling direction of the moving object (automobile 100). The virtual image 300 may be projected upward or the like.

Moreover, 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 machines, and ships. Furthermore, the display system 10 is not limited to mobile objects, and may be used, for example, in amusement facilities, wearable terminals such as head-mounted displays (HMDs), medical equipment, or stationary devices. may be

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

(summary)
As described above, the display system (10) according to the first aspect includes a projection section (40) and a control section (5). A projection unit (40) projects a virtual image (300) onto a target space (400). A control unit (5) controls display of a virtual image (300). A control unit (5) displays a virtual image (300) having a width in the traveling direction of a moving body (for example, an automobile (100)) and having at least attribute information of a road surface (600) on which the moving body is moving. do.

According to this aspect, there is an advantage that the user (200) can easily grasp the condition of the road surface (600) by looking at the virtual image (300) displayed in the target space (400). Moreover, according to this aspect, regardless of whether the navigation system is used or not, the virtual image (300) showing the attribute information of the road surface (600) is displayed in the target space (400). Therefore, according to this aspect, there is an advantage that the user (200) can easily grasp the condition of the road surface (600) without being particularly conscious of it.

Furthermore, according to this aspect, since the virtual image (300) is displayed in the target space (400) with a width in the traveling direction of the moving object, the user (200) intuitively grasps the condition of the road surface (600). It has the advantage of being easy to In other words, when the virtual image (300) is displayed in the object space (400) without width in the traveling direction of the moving body, the virtual image (300) is perceived by the user (200) as a planar object. In other words, the virtual image (300) is perceived by the user (200) as a form different from the real space, which is a collection of three-dimensional objects, and may cause the user (200) to feel uncomfortable. When the user (200) sees such a virtual image (300), the brain of the user (200) perceives the virtual image (300) as an object in real space. It is difficult to intuitively grasp the virtual image (300).

On the other hand, according to this aspect, since the virtual image (300) has a width in the traveling direction of the moving object, the virtual image (300) is perceived by the user (200) as a three-dimensional object having the same form as the real space. easy. Therefore, according to this aspect, when the user (200) sees the virtual image (300), the processing load on the brain of the user (200) is reduced. ) can be intuitively grasped.

Here, from the viewpoint of assisting the driving of the user (200), compared to the user (200) grasping the route information to the destination, Grasping tends to require immediacy. According to this aspect, since the user (200) can easily grasp the virtual image (300) intuitively, it is easy to satisfy the above-described immediacy requirement, and as a result, the function of assisting the driving of the user (200) can be improved. has the advantage of being able to

In the display system (10) according to the second aspect, in the first aspect, the attribute information is one or more of information on the position of the moving object, information on objects around the moving object, and information on the state of the moving object. This information is based on information from

According to this aspect, there is an advantage that it is easy to present various conditions of the road surface (600) to the user (200).

In the display system (10) according to the third aspect, in the first or second aspect, the attribute information is whether or not the moving body can enter the specific area (A1) in the predicted moving direction of the moving body. It is information representing

According to this aspect, there is an advantage that the user (200) can easily determine whether or not it is necessary to change the traveling direction of the moving object.

In the display system (10) according to the fourth aspect, in the third aspect, when the mobile body cannot enter the specific area (A1), the mobile body moves to the specific area (A1). ) is displayed as a virtual image (300) of contents representing routes that can be avoided.

According to this aspect, there is an advantage that the user (200) can easily select to avoid the specific area (A1) that cannot be entered.

In the display system (10) according to the fifth aspect, in the third aspect, the specific area (A1) is in another lane (602) different from the lane (601) in which the moving object is moving.

According to this aspect, there is an advantage that the user (200) can easily determine whether or not to change lanes.

In the display system (10) according to the sixth aspect, in any one of the first to fifth aspects, the attribute information is information representing the gradient of the road surface (600) on which the moving object is moving.

According to this aspect, there is an advantage that the user (200) can easily drive according to the gradient of the road surface (600).

In the display system (10) according to the seventh aspect, in any one of the first to sixth aspects, the attribute information represents the name of the road including the road surface (600) on which the moving object is moving, or the direction Information.

This aspect has the advantage that the user (200) can easily drive while knowing where he or she is heading.

In the display system (10) according to the eighth aspect, in any one of the first to seventh aspects, the virtual image (300) is a moving image.

According to this aspect, there is an advantage that the user (200) can easily pay attention to the condition of the road surface (600) represented by the virtual image (300) as compared with the case where the virtual image (300) is a static image.

In the display system (10) according to the ninth aspect, in any one of the first to eighth aspects, the attribute information is a road surface (600) on which the moving object is moving and another road surface (604) connected to the road surface (600). This is information representing another road surface (604) that the moving body can enter.

According to this aspect, there is an advantage that the user (200) can easily drive while considering other routes different from the current route of the moving body.

An information presentation system (1000) according to a tenth aspect comprises the display system (10) according to any one of the first to ninth aspects and a detection system (7). A detection system (7) detects objects in the vicinity of the moving object.

According to this aspect, there is an advantage that the user (200) can easily grasp the condition of the road surface (600) by looking at the virtual image (300) displayed in the target space (400).

A control method for a display system (10) according to an eleventh aspect is a control method for a display system (10) including a projection section (40) and a control section (5). A projection unit (40) projects a virtual image (300) onto a target space (400). A control unit (5) controls display of a virtual image (300). The control method of the display system (10) displays a virtual image (300) having a width in the traveling direction of the moving object and having at least the attribute information of the road surface (600) on which the moving object is moving.

According to this aspect, there is an advantage that the user (200) can easily grasp the condition of the road surface (600) by looking at the virtual image (300) displayed in the target space (400).

A program according to a twelfth aspect is a program for causing a computer system to execute the control method of the display system (10) according to the eleventh aspect.

According to this aspect, there is an advantage that the user (200) can easily grasp the condition of the road surface (600) by looking at the virtual image (300) displayed in the target space (400).

A moving object according to a thirteenth aspect includes the display system (10) according to any one of the first to ninth aspects and a reflecting member (for example, a windshield (101)).

According to this aspect, there is an advantage that the user (200) can easily grasp the condition of the road surface (600) by looking at the virtual image (300) displayed in the target space (400).

Various configurations (including modifications) of the display system (10) according to the embodiment can be embodied by control methods and (computer) programs for the display system (10), without being limited to the above aspects.

The configurations according to the second to ninth aspects are not essential to the display system (10), and can be omitted as appropriate.

REFERENCE SIGNS LIST 10 display system 40 projection unit 5 control unit 7 detection system 100 automobile (moving body)
101 windshield (reflective member)
300 virtual image 400 object space 600 road surface 601 first lane (lane)
602 Second Lane (Other Lane)
604 Other road surface 1000 Information presentation system

Claims (11)

A control unit for controlling display of the virtual image projected in the target space so that the user can visually recognize the virtual image,
The control unit displays the virtual image including the first attribute information representing the slope of the road surface on which the moving body is moving, according to the tilt of the moving body obtained from the data measured by the moving body. control and
The virtual image is a virtual image visually recognized by the user with depth along the road surface,
The display system , wherein the control unit changes the shape of the virtual image according to an inclination angle representing the gradient of the road surface . The display system according to claim 1, wherein the virtual image further includes second attribute information representing a traveling direction of the moving object. The control unit controls to display the virtual image in a shape that tapers from the near side to the far side when the road surface slopes upward.
3. A display system according to claim 1 or 2. When the road surface slopes down, the control unit controls the virtual image to be displayed in a shape that becomes thicker from the front side toward the back side.
3. A display system according to claim 1 or 2. The virtual image further includes third attribute information representing the name of the road including the road surface, or the direction indicating the destination of the road.
5. A display system according to any one of claims 1-4. The control unit controls to further display the virtual image including information that gives the user an illusion that the moving body is accelerating.
6. A display system according to any one of the preceding claims. The virtual image is displayed as a moving image
7. A display system according to any one of claims 1-6. a display system according to any one of claims 1 to 7;
and a detection system that detects objects around the moving object.
Information presentation system. A control method for a display system, comprising a control step of controlling display of the virtual image projected onto a target space so as to allow a user to visually recognize the virtual image,
In the control step, display of the virtual image is controlled according to an inclination of the moving body obtained from data measured by the moving body;
The virtual image includes first attribute information representing the slope of the road surface on which the moving object is moving, and is a virtual image visually recognized by the user with depth along the road surface,
In the control step, the shape of the virtual image is changed according to an inclination angle representing the gradient of the road surface.
How to control the display system. to the computer system,
for executing the display system control method according to claim 9
program. a display system according to any one of claims 1 to 7;
a projection unit that projects the virtual image into the target space;
a reflective member that is light transmissive and reflects light emitted from the projection unit;
Mobile.

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