JP7310817B2 - head-up display device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a head-up display device that displays a virtual image on a front windshield, combiner, or the like of a vehicle.

A head-up display device that generates and displays a virtual image by display light reflected by the reflective translucent member such as a front windshield of a vehicle or a combiner, superimposed on a real scene (landscape in front of the vehicle) transmitted through the reflective translucent member. contributes to safe and comfortable vehicle operation by providing information desired by the viewer as a virtual image while minimizing the movement of the line of sight of the viewer driving the vehicle.

For example, the head-up display device described in Patent Literature 1 is provided on the dashboard of a vehicle and projects display light onto a front windshield. to be visible. In the same patent document, a first virtual image on a first virtual image display surface substantially parallel to the road surface on which the vehicle travels, and a second virtual image on a second virtual image display surface substantially parallel to the direction perpendicular to the traveling direction of the vehicle. A second virtual image is displayed so as to form a predetermined angle.

JP 2016-212338 A

By the way, in Patent Document 1, the first virtual image is superimposed and visually recognized over a predetermined range of the road surface. 0015, see FIG. 1), the viewer perceives the first virtual image to be floating above the road surface. As in the first virtual image in the same patent document, it is sometimes desirable that the virtual image such as an arrow indicating the route of the vehicle should be visually recognized as sticking to the road surface rather than floating from the road surface. be.

However, if the virtual image display surface 40 is positioned not above the road surface 41 but at the same height as the road surface 41 as shown in FIG. 42, the virtual image display surface 40 floats above the road surface 41 and the virtual image 43 rises from the road surface 41 as shown in FIG. There is a problem that the viewer 44 tends to feel uncomfortable that the road 43 is not in harmony with the road surface 41 .

SUMMARY OF THE INVENTION It is an object of the present invention to provide a head-up display device that can stably display a virtual image that sticks to the road surface and is visually recognized while the vehicle is running.

In one aspect of the head-up display device of the present invention, display light is projected onto a translucent reflective member provided on a vehicle running on a road surface , and superimposed on the actual scene transmitted through the translucent reflective member is projected onto the translucent reflective member. A head-up display device comprising display means for generating and displaying a virtual image using reflected display light, the head-up display device comprising: an image display unit having a display surface for displaying an image; an optical system including an optical member for projection, wherein the virtual image display surface has a curved shape with a concave upper portion, and the optical characteristics of the entire area or a part of the area of the optical system are adjusted; By adjusting the arrangement of the optical member and the display surface, adjusting the shape of the display surface, or a combination thereof , the virtual image is displayed, and all or part of it is under the road surface, and the upper part is concave. A virtual image display surface having a curved shape is formed .

Thereby, for example, the entire virtual image can be arranged close to the road surface. In other words, in the road surface superimposed HUD, floating of the virtual image from the road surface can be suppressed.

Further, the virtual image display surface may have a concave curved surface shape, all or part of which is under the road surface.
Further, the optical member may have a concave mirror having a curved reflecting surface, and the shape of the curved reflecting surface of the concave mirror may be adjusted to produce a concave curved surface shape of the virtual image display surface.
Further, the concave curved virtual image display surface is positioned between an end on the near side of the vehicle, an end on the far side of the vehicle, and between the near end and the far side of the vehicle. and a central portion, and when the direction along the line segment perpendicular to the road surface is referred to as the vertical direction, the vertical position of the near-side end and the vertical position of the far-side end is the same, and at least part of the central portion is located below the road surface, or the end on the far side is located below the end on the near side, and At least part of the far end is located below the road surface, or the near end is located below the far end and the near end At least part of the portion may be located below the road surface.
Further, the end on the near side and the end on the far side may be positioned above the road surface.
Further, when the direction along the width of the vehicle is referred to as the left-right direction, the viewpoint of the viewer of the virtual image who is the passenger of the vehicle is located at the central eye point of the eye box in the left-right direction, and the virtual image A virtual image is displayed ahead at a display distance of 5 m or more, and the convergence angle for one point of the virtual image is set as a first convergence angle, and the point on the road surface, which is the superimposed object, corresponds to one point of the virtual image is the second angle of convergence, and the difference between the first angle of convergence and the second angle of convergence is the angle of convergence, the difference in the angle of convergence may be 0.068 degrees or less.
one or more actuators configured to move or/and rotate the display surface or/and the optical member; one or more I/O interfaces;
further comprising one or more processors, a memory, and one or more computer programs stored in said memory and configured to be executed by said one or more processors; The one or more processors acquire the position of the road surface, and drive the actuators based on the position of the road surface so that at least part of the virtual image display surface is arranged under the road surface. good too.

According to the embodiment of the present invention as described above, it is possible to effectively suppress the floating of the virtual image superimposed on the road surface from the road surface. This contributes to improving the visibility of the HUD device with a wide angle of view and a long virtual image display distance.

According to the head-up display device of the present invention, a virtual image that sticks to the road surface and is visually recognized can be stably displayed while the vehicle is running.

BRIEF DESCRIPTION OF THE DRAWINGS It is explanatory drawing which shows the vehicle provided with the head-up display apparatus which concerns on the form for implementing invention. FIG. 2 is an explanatory diagram showing the configuration of the head-up display device of FIG. 1; 2 is a block diagram showing the relationship between a display unit, an image generation unit, an object detection unit, and a vehicle information detection unit of the head-up display device of FIG. 1; FIG. (a) is an explanatory view showing an example in which navigation arrows are displayed on the front windshield by the head-up display device of FIG. It is a diagram. 2 is a flow chart showing adjustment processing of a virtual image display surface by the head-up display device of FIG. 1; (a) is an explanatory view showing a virtual image display surface by the head-up display device of FIG. 1, and (b) is an explanatory view showing a virtual image display surface when the front part of the vehicle in (a) floats and the rear part sinks. FIG. 10 is an explanatory diagram showing a vehicle provided with another head-up display device according to the embodiment of the invention; (a) is an explanatory view showing a virtual image display surface by a conventional head-up display device, and (b) is an explanatory view showing a virtual image display surface when the front part of the vehicle in (a) is floating and the rear part is sinking. (a) is a diagram for explaining the magnification and focus of the head-up display device, and (b) is a diagram for explaining the relationship between the viewer's eye point and the virtual image position. (a) is a diagram showing a virtual image display using a virtual image display surface having a concave shape according to another example of the head-up display device; (b) is a diagram showing an example of an image displayed on the display surface of the image display unit; is. 10A and 10B are diagrams showing another example of the optical system in the head-up display device (an example having a structure different from that of the optical system shown in FIG. 10A); FIG. 4 is a diagram for explaining an example of a curved surface shape of a concave mirror (a magnifying reflector having a curved reflecting surface) and an example of a focal point; FIG. 10 is a diagram showing a state in which a figure for navigation is superimposed and displayed with the road surface as a superimposed object (actual scene) when the vehicle is running on a straight road; (a) to (c) are diagrams showing how the virtual image display position changes in accordance with the change in the convergence angle difference and the change in the eye point in the head-up display device. (a), (b) is a figure for demonstrating the relationship between virtual image display distance and a convergence angle difference. 4(a) to 4(c) are diagrams for explaining an example of the shape of a concave virtual image display surface and the relationship between each example and the road surface position. Each of (a) to (i) is a diagram individually and specifically showing an example of the shape of a concave virtual image display surface and the relationship between each example and the position of the road surface. It is a figure which shows the example of the system configuration|structure of a head-up display apparatus.

A mode for carrying out the present invention will be described based on the drawings.

As shown in FIG. 1, a head-up display device (HUD) 1 according to the present embodiment is provided inside a dashboard 4 located below a front windshield 3 of a vehicle 2. The display light 5 is projected onto the part. The display light 5 is reflected by the front windshield 3 to generate a virtual image 6 , which is superimposed on a real scene transmitted through the front windshield 3 by a viewer (driver) 7 to visually recognize the virtual image 6 . The virtual image 6 is displayed on a virtual image display surface 9 located below the road surface 8 on which the vehicle 2 is traveling, as will be described in detail later.

As shown in FIG. 2, the HUD 1 has a schematic configuration in which a display section 12, a reflecting mirror 13, and an image generation section 14 are provided inside a case 11 in which a translucent section 10 is formed. The display unit 12 receives a projection unit 15 including a projector using a reflective display device such as DMD or LCoS, and projection light from the projection unit 15, and emits display light 5 including an image toward a reflecting mirror 13. and a screen 16 for The display light 5 from the display section 12 is reflected by the concave reflecting mirror 13 , passes through the translucent section 10 , and is projected onto the front windshield 3 . The display light 5 projected onto the front windshield 3 is reflected toward the viewer 7 to generate a virtual image 6 which is displayed to the viewer 7 (see FIG. 1). The reflecting mirror 13 may be rotated by a driving mechanism (not shown) to change the projection position of the display light 5 on the front windshield 3. The projection unit 15 includes LED illumination and TFT liquid crystal. may be configured by a combination of

The image generation unit 14 is composed of a microcomputer, a GDC, etc., and is connected to the display unit 12 and an in-vehicle LAN bus 27 such as CAN, as shown in FIG. The bus 27 includes an object detection unit 16 that detects the road surface 8 on which the vehicle 2 is traveling and other objects around the vehicle using a camera, LiDAR, V2X, etc., a CAN transceiver IC, a GNSS, an acceleration sensor, a motion sensor, and a gyro sensor. A vehicle information detection unit 17 for detecting vehicle information such as vehicle speed, acceleration, etc. is connected.

The virtual image 6 generated by the display light 5 sticks to the road surface 8 on which the vehicle 2 is traveling and is visually recognized. 19, and a guide 20 or the like representing the inter-vehicle distance to the preceding vehicle (the preceding vehicle is visually recognized as a real scene by the viewer 7) shown in FIG. Here, the image generator 14 projects the display light 5 so that the virtual image display surface 9 is substantially parallel to the road surface 8 and positioned below the road surface 8 (see FIG. 1), and the virtual image The display surface 9 is positioned at a predetermined depth (50 to 200 cm below the road surface 8) on the road surface 8 which is a predetermined distance (20 to 50 m) from the vehicle 2 (in front).

In addition, as shown in FIG. 5, the image generation unit 14 adjusts the position of the virtual image display surface 9 with respect to the vehicle 2 so as to be constant (so that the predetermined distance and/or the predetermined depth is maintained). . That is, the image generation unit 14 acquires the pitch angle of the vehicle from the detection results of the vehicle information detection unit 17 (acceleration sensor, motion sensor, gyro sensor, etc.) (step 1 (described as "S.1" in FIG. 5). The same applies hereinafter.)), based on the pitch angle and the predetermined distance and/or the predetermined depth, the desired display position (FIG. 6A) of the virtual image display surface 9 is shifted by the obtained pitch angle. The amount of deviation from the position (FIG. 6(b)) is calculated (step 2). Then, the position of the virtual image display surface 9 with respect to the vehicle 2 is adjusted so as to cancel the deviation amount (step 3), and the display unit 12 is controlled so as to project the display light 5 corresponding to the virtual image display surface 9 after adjustment. (step 4).

In FIG. 5, the image generator 14 adjusts the position of the virtual image display surface 9 in accordance with the actual change in the pitch angle. The real-time performance may be improved by detecting the shape, unevenness, etc., and considering the detection result, estimating the pitch angle at the next moment, and adjusting the position of the virtual image display surface 9 .

Furthermore, in order to position the virtual image display surface 9 below the road surface 8, the image generation unit 14 detects the road surface 8 by the object detection unit 16, or determines that the height of the road surface on which the vehicle 2 is grounded is the same. The height of the road surface 8 is grasped by looking at it.

In the HUD 1 according to the present embodiment, the virtual image display surface 9 is positioned below the road surface 8 on which the vehicle 2 is traveling, and the virtual image 6 is also displayed below the road surface 8. Based on the preconceived notion that there is no farther side on the road surface 8 , it is visually recognized as if it is stuck to the road surface 8 . depth perception becomes dull and pronounced. In other words, although the virtual image 6 is actually formed on the far side (below) of the road surface 8 as seen from the viewer 7 , the viewer 7 feels as if the virtual image 6 is stretched on the surface of the road surface 8 . perceive it as if it were displayed with it.

In addition, if the pitch angle of the vehicle 2 changes without the function of adjusting the position of the virtual image display surface 9 by the image generating unit 14, or if the pitch angle of the vehicle 2 changes beyond the assumption of the position adjusting function. Furthermore, even if the virtual image display surface 9 floats up as shown in FIGS. For the viewer 7, the virtual image 6 is seen as sticking to the road surface 8, and the sense of superimposition with the road surface 8 is not lost.

Therefore, according to the HUD 1, even if the pitch angle of the vehicle 2, the shape of the road surface 8, and the unevenness of the road surface 8 change while the vehicle 2 is traveling, the virtual image 6 that sticks to the road surface 8 and is visually recognized can be stably displayed. can be done. Here, the image generation unit 14 adjusts the position of the virtual image display surface 9 with respect to the vehicle 2 so that the position of the virtual image display surface 9 with respect to the vehicle 2 is constant, and the floating of the virtual image display surface 9 from the road surface 8 is suppressed. Since the virtual image 6 is displayed at a fixed place, the virtual image 6 is displayed as if it sticks to the road surface 8 more stably when the vehicle 2 is running, and its visibility is also improved.

FIG. 7 shows a vehicle 2 provided with another HUD 21 according to this embodiment. The HUD 21 has the same configuration as the HUD 1 except that the image generated by the image generation unit is different, so detailed description of each unit will be omitted.

A virtual image display surface 22 by the HUD 21 has an end portion 23 on the far side (upper side when viewed from the viewer 7) with respect to the vehicle 2 located above an end portion 24 on the near side (lower side when viewed from the viewer 7). , and further above the road surface 8 . In addition, the edge 24 near the vehicle 2 is located below the road surface 8 , and a background-related virtual image superimposed on the background on the road surface 8 (vehicle speed, An image of the remaining distance to the next guidance point by navigation, FCW (Forward Collision Warning), etc.) 25 is displayed. , a road surface-related virtual image 26 that is visually recognized is displayed.

In the HUD 21 , the far side end 23 of the virtual image display surface 22 is positioned above the road surface 8 , and the near side end 24 is positioned below the road surface 8 . The background-related virtual image 25 that is superimposed on the background on the road surface 8 can be displayed on the edge 24 side while the road surface-related virtual image 26 visually recognized along the road surface 26 is displayed on the edge 23 side.

Although the embodiments for carrying out the present invention have been exemplified above, the embodiments of the present invention are not limited to those described above, and may be modified as appropriate without departing from the scope of the invention.

For example, as long as at least part of the virtual image display surface of the HUD can be positioned below the road surface on which the vehicle is traveling, the configuration of the display section and other sections is arbitrary.

The display position of the virtual image display surface and the display content of the virtual image are also arbitrary. It may be substantially perpendicular to the road surface 8 or at another angle.

In order to enhance the visual appearance of the virtual image sticking to the road surface (a sense of superimposition of the virtual image with the road surface, a sense of unity), the virtual image display surface should be laid down as a whole (almost parallel to the road surface). state), the distance from the vehicle to the virtual image display surface is the predetermined distance (20 to 50 m), and the depth from the road surface to the virtual image display surface is the predetermined depth (50 to 200 cm). ), the virtual image appears to be sufficiently attached to the road surface, and is lifted from the road surface due to changes in the pitch angle of the vehicle and changes in the shape and unevenness of the road surface under normal driving conditions. It is also prevented from appearing

Reference is now made to FIG. FIG. 9(a) is a diagram for explaining the magnification and focus of the head-up display device, and FIG. 9(b) is a diagram for explaining the relationship between the viewer's eye point and the virtual image position.

As shown in FIG. 9(a), the distance from the display surface of the image display unit (display device, transmissive or reflective screen, etc.) to the reflective translucent member (windshield, combiner, etc.) T is Let the optical path length be a, and let the distance from the human (viewer's) viewpoint E (or a predetermined point on the vehicle) to the virtual image V (or the reference point of the virtual image display surface) be the virtual image display distance b. At this time, if a<b, an enlarged display is performed, and the magnification K is represented by b/a. Also, when the focal length is f, 1/f=1/a-1/b is established.

In recent years, there has been a demand for a HUD device with a wide viewing angle (for example, an effective vertical field of view viewed from a viewer is about 10 degrees) and a long virtual image display distance b (for example, 7 m or more). An attempt to increase both the viewing angle and the virtual image display distance results in an increase in the size of the HUD device. In order to suppress the increase in size, it is necessary to increase the magnification (optical magnification) of the optical system of the HUD device while suppressing the increase in the optical path length (a) above. In order to increase the optical magnification, for example, it is necessary to greatly curve the curved surface of an optical member such as a concave mirror or a correction mirror. In addition, as the angle of view of the HUD device increases, the size of the display surface of the image display unit increases, optical members such as concave mirrors also increase in size, and display light comes to hit the greatly curved peripheral region of the concave mirror. Therefore, for example, when a flat road surface is used as a superimposed object and a navigation display (such as an arrow with a flat surface) is superimposed on the road surface, the navigation display (virtual image) is completely flat. display is not possible. In other words, it is difficult to superimpose the navigation display (virtual image) on the road surface while ensuring perfect flatness over the entire angle of view.

In FIG. 9(b), the image M is displayed on the display surface of the image display portion S, and a virtual image is displayed via the concave mirror WD and the front shield (reflecting translucent member) T. As shown in FIG. In FIG. 9B, the eyepoint EP(C) of the viewer (driver of the vehicle, etc.) is located in the center of the eyebox EB. Let PLN(L) and PLN(R) be the virtual image display planes corresponding to the left and right eyes, respectively, and the virtual image V(C) is positioned at the center of the overlapping region. When the virtual image V (C) is superimposed on the object, when the degree of difference between the convergence angle of the virtual image V (C) and the convergence angle of the superimposed object increases, the defocus becomes apparent, and the viewer feels uncomfortable (this point will be discussed later).

Further, when the viewer's eye point moves along the width direction (horizontal direction) of the vehicle (EP(L), EP(R)), even if the display position of the image M does not change, the display position of the virtual image changes. In a HUD device capable of displaying a wide viewing angle, the moving distance of the eye point increases, and the positional deviation of the virtual image in the horizontal direction (in other words, the drawing positional deviation) increases. will be remembered (this point will also be described later). Therefore, it is also important to appropriately suppress defocus and drawing position deviation.

Conventionally, as a countermeasure against the above-described distortion of the virtual image V, the mainstream idea was to suppress the distortion as much as possible, in other words, to correct the distortion. On the other hand, in the embodiment of the present invention, instead of correcting the distortion, the distortion of the image is properly corrected by adjusting the curved surface shape of the concave mirror while considering the characteristics of the image perception through human vision. A new technique is introduced to control the distortion of the image with high accuracy and make the distortion of the image inconspicuous. As a result, it is possible to relatively easily suppress floating of the virtual image from the road surface when the virtual image is superimposed on the road surface.

A specific description will be given below. Please refer to FIG. FIG. 10(a) is a diagram showing a virtual image display using a virtual image display surface having a concave shape according to another example of the head-up display device; FIG. 4 is a diagram showing an example; In FIG. 10A, the direction along the front of the vehicle 200 (also referred to as the front-rear direction) is the Z direction, the direction along the width (horizontal width) of the vehicle 200 (lateral direction) is the X direction, and the height of the vehicle 200 is defined as the X direction. The longitudinal direction (the direction away from the flat road surface 80 of a line segment perpendicular to the flat road surface 80) is defined as the Y direction.

Further, in the following description, the terms "top" and "bottom" are used in describing the curved surface shape of the virtual image display surface 400 and the like. Here, for convenience of explanation, a direction along a line segment (normal line) perpendicular to the road surface 80 is defined as an up-down direction. If the road surface is horizontal, the vertical downward direction is downward and the opposite direction is upward.

As shown in the upper part of FIG. 10(a), a vehicle (self-vehicle) 200 is traveling on a road surface (road) 80 that extends linearly. In the image display area 303 of the HUD device 101 of the present embodiment, an arrow mark (navigation mark), which is a virtual image having an extension portion (extension component) that extends linearly in a direction that matches the extension direction of the road surface 80, is displayed. A kind of display) 501 is displayed. The arrow mark 501 as a virtual image is a flat mark (in other words, a mark having a flat surface), and is displayed so as to overlap the road surface 80 with the road surface 80 as a superimposed object. On the other hand, it can be said that it is a virtual image of content displayed in a superimposed manner (referred to as superimposed content).

In the figure, J1 indicates the endpoint of arrow mark 501 on the far side from vehicle 200, J3 indicates the endpoint on the near side, and J2 indicates the central endpoint between J1 and J2.

Next, refer to the diagram on the lower side of FIG. 10(a). Inside a dashboard 40 of a vehicle (self-vehicle) 200, a HUD device (sometimes referred to as a road superimposed HUD) 101 having display characteristics suitable for displaying a virtual image superimposed on the road surface according to the present embodiment is installed. It is

The HUD device 101 includes an image display unit (here, a screen) 160 having a display surface 164 for displaying an image, and an optical member for projecting display light 50 for displaying an image onto a windshield 300, which is a reflective translucent member. and a light projection unit (image projection unit) 150. The optical member has a concave mirror (magnifying reflector) 130 having a curved reflecting surface 139, and the reflecting surface 139 of the concave mirror 130 has a curved surface shape suitable for displaying a virtual image (in this case, an arrow mark 501) with the road surface 80 as a superimposed object. ) is determined according to the curved shape of the reflecting surface 139 .

The shape of the virtual image display surface 400 is not only the curved shape of the reflecting surface 139 of the concave mirror 130, but also the curved shape of the windshield 300 and the shape of other optical members (for example, correction mirrors) mounted in the optical system 120. is also affected. It is also influenced by the shape of display surface 164 (which is generally planar, but may be non-planar in whole or in part) and the placement of display surface 164 relative to reflective surface 139 . However, the concave mirror 130 is a magnifying reflector and has a great influence on the shape of the virtual image display surface 400 . Also, if the shape of the reflecting surface 139 of the concave mirror 130 is different, the shape of the virtual image display surface 400 actually changes. Therefore, the shape of the concave virtual image display surface 400 also depends on the curved shape of the reflecting surface 139 of the concave mirror 130 .

Here, FIG.10(b) is referred. A real image (real image) RE (501) of the arrow is displayed on the image display surface 164 in the image display area 163 of the image display unit 160 . The real image RE (501) of this arrow makes the most of the range of the angle of view of the image display unit 160 to display one end (first display limit end) 503 of the image display area 163 and the other end on the opposite side. 504 (second display limit end) 504, is arranged as an image of an arrow mark having a linearly continuous portion. Assuming that the extending direction of the linearly continuous portion is NP, the extending direction NP can be said to be (corresponding to) a direction along the Z direction, which is the forward direction (backward direction) in real space. Since the display makes full use of the angle of view, the display light also hits the peripheral area of the concave mirror 130 where the change in curvature can be large. , the virtual image display surface 400 having a curved cross-sectional shape.

As described above, the HUD device 101 displays the virtual image 501 so as to overlap the road surface 80 with the road surface 80 as a superimposed object. Focusing on the virtual image display surface 400 in this case, the virtual image display surface 400 has a concave curved surface shape which is entirely or partly under the road surface 80 . FIG. 10( a ) shows an example in which a portion is below the road surface 80 .

The size of the virtual image display surface 400 is determined according to the size of the image display area (effective display area) 163 corresponding to the angle of view of the HUD device 101 .

In the example of FIG. 10, when an image is displayed by making the most of the size of the image display area 163, the virtual image of the image extends along the road surface, but it varies depending on the aberration of the concave mirror and the windshield. The concave shape is formed by adjusting the characteristics of the optical system 120 typified by the concave mirror 130 in detail, so that the curvature and the like are controlled with high precision. be.

The concave curved virtual image display surface 400 has an end portion 406 near the vehicle 200 (including the end point Q3 on the side closer to the vehicle), an end portion 403 on the far side (including the end point Q1 on the far side), a central portion 405 (including the central endpoint Q2) located between the proximal end 403 and the distal end 406; Note that the central portion may also be referred to as a middle region, a central region, or the like. In the example of FIG. 10A, the central portion 405 of the virtual image display surface 400 is located below the near end 406 and far end 403 .

The concave curved virtual image display surface 400 has an end 406 near the vehicle 200 (including the end point Q3), an end 403 farther (including the end point Q1), an end 406 near the vehicle 200, and a far end 406 (including the end point Q1). When the vertical direction is defined as a direction along a line segment (normal line) perpendicular to the road surface 80, the center portion 405 (including the center point Q2) positioned between the side edge portion 403 and the In the example of (a), the position in the vertical direction of the end 406 on the near side (in other words, the degree of separation from the road surface 80) and the position in the vertical direction of the end 403 on the far side (degree of separation from the road surface 80) are different. are the same, and at least a portion of central portion 405 is located below channel 80; Both ends of the virtual image display surface 400 are raised from the road surface, but the extent of the rise is the same, and the shape is well-balanced. It has a symmetrical curved shape with respect to the front-rear direction. Therefore, by the action of the human eye, floating is corrected over the entire virtual image display surface 400, the position of the virtual image is corrected so that it overlaps with the road surface, and the floating is averaged. It is generally flat and feels as if it sticks to the road surface 80 as a whole. Therefore, a person (viewer) does not feel uncomfortable.

Also, in the example of FIG. 10A , at least part of the central portion 405 of the virtual image display surface 400 is below the road surface 80 . In other words, the center point J2 of the virtual arrow mark 501 is below the road surface 80 . Therefore, the end point J1 on the far side and the end point J3 on the near side of the arrow mark 501, which is a virtual image, are only slightly lifted from the road surface 80. FIG. Therefore, when the virtual image position is averaged by the characteristics of the human eye, the arrow marks 501 are misunderstood as if they are attached to the road surface, thereby displaying the virtual image over the entire angle of view on the flat road surface. It is possible to superimpose (stick) in a plane. In addition, the central portion 405 of the virtual image display surface 400 is under the road surface 80, and the central portion of the virtual image display is sunk under the road surface, but the human eye does not see the virtual image display below the road surface. , there is a tendency to correct the position of the virtual image display. Therefore, the central portion of the virtual image display (which may have a large area and can be a main portion) looks as if it is stuck to the road surface 80 . Therefore, superimposed display on the road surface with a high degree of perfection is realized. There are various variations in the shape of the virtual image display surface 400, which will be described later.

Also, the shape of the curved reflective surface of concave mirror 130 can be appropriately adjusted (designed) so as to produce the concave curved shape of virtual image display surface 400 . For example, changes in curvature can be adjusted accordingly (see, eg, FIG. 12).

Reference is now made to FIG. FIG. 11 is a diagram showing another example of the optical system in the head-up display device (an example having a different structure from the optical system shown in FIG. 10(a)). The HUD device 121 includes a light projecting unit 151, a screen 161 as an image display unit, a reflecting mirror 133, a concave mirror 131, an I/O interface for acquiring information from external sensors and other ECUs, a processor, a memory, and a control unit 171 composed of a computer program stored in a memory.

Also, the angle of the concave mirror 131 can be appropriately adjusted by the operation of the rotating mechanism 175 consisting of an actuator. In addition, the tilt and position of the screen 161 can be appropriately adjusted by an adjustment section 173 that is an actuator of the image display section. Note that the inclination of the screen 161 is, specifically, the inclination relative to the optical axis of the light projecting section 151, the inclination relative to the optical axis of the optical system, or the inclination relative to the main optical path (principal ray) of the light emitted by the light projecting section. , can be said. The control unit 171 comprehensively controls the operation of the light projecting unit 151, the operation of the rotation mechanism 175, the operation of the adjustment unit 173 of the image display unit, and the like. Reference numeral 51 indicates emitted light.

By adjusting the characteristics of the optical system from various viewpoints, it is possible to increase variations in the shape of the curved surface of the virtual image display surface 400, and it is also possible to adjust the curvature of the curved surface with higher accuracy. .

Reference is now made to FIG. FIG. 12 is a diagram for explaining an example of a curved surface shape of a concave mirror (a magnifying reflecting mirror having a curved reflecting surface) and a focal point. The concave mirror 135 shown in FIG. 12 has portions α, β, and γ, and the radius of curvature of each portion is set to large, small, or large. Reference numeral 163 denotes a screen as an image display section. Also, the optical path indicated by the dashed line indicates the main optical path (principal ray) along the optical axis of the concave mirror 135 (optical system in a broader sense).

As the radius of curvature of concave mirror 135 changes, concave mirror 135 will have focal points indicated by points F1 to F5. The shape of the curved surface of the virtual image display surface 400 (degree of curvature, etc.) can also be changed according to the curved surface shape indicated by the trajectory of the focal point. For example, the radii of curvature of the α, β, and γ portions of the concave mirror 135 are medium, small, and large, or small and small. Big. Various variations are conceivable, such as setting Instead of correcting the distortion caused by the aberration of the concave mirror and the windshield, as in the past, the curved surface of the virtual image display surface is allowed, and the curved surface can be freely controlled with a high degree of accuracy, allowing the characteristics of the human eye to be corrected. This embodiment adopts a design method of making a curved surface appear closer to a flat surface by using the curved surface. Such a design concept is completely different from the conventional one.

Reference is now made to FIG. FIG. 13 is a diagram showing a state in which a navigation graphic is superimposed on a road surface as a superimposed object (actual scene) when the vehicle is traveling on a straight road. In FIG. 13, the vehicle is traveling straight on a straight road with good visibility. A virtual image 507 for navigation is displayed (arranged) in the virtual image display area 305 of the windshield 300 so as to overlap the road surface 80 .

In the example of FIG. 13, the virtual image display area 305 is a quadrangle, and is a horizontally elongated quadrangle in which the sides in the vehicle width direction (horizontal direction) are longer than the sides in the vehicle height direction (vertical direction). This makes it possible to support virtual image display with a wide viewing angle. In this case, due to the convergence angle, a phenomenon that the virtual image and the road surface do not match occurs, or the eye point (see FIG. 9B) due to the shift of the human viewpoint in the left and right direction ) is likely to cause a phenomenon in which the displacement appears to be enlarged due to a change in the position of the virtual image accompanying the movement of . According to the present embodiment described above, it is possible to effectively deal with these positional deviations (drawing positional deviations, which will be described later). A specific description will be given below.

Please refer to FIG. FIGS. 14A to 14C are diagrams showing how the virtual image display position changes in accordance with the change in the convergence angle difference and the change in the eye point in the head-up display device. In FIG. 14(a), θHUD indicates the angle of convergence of both eyes (left eye 70L, right eye 70R) at the focal position PC0 of the HUD, and θscene is the actual scene which should originally match the focal position PC0 of the HUD. is the convergence angle at the point PC1 of the road surface (road surface as a superimposed object) 80. θscene(far) is the angle of convergence for point PC2, which is farther from the vehicle (that is, located farther).

As shown in FIG. 14(b), the farthest point (end point on the far side) P11 from the vehicle (or the viewer) on the virtual image display surface 400 corresponds to the imaging point PC1 in FIG. 14(a). If the curvature of the virtual image display surface 400 is greater, the end point P11 on the far side of the virtual image display surface 400 changes to the end point P12. The distance between the end point P11 and the point PC1 on the road surface 80 is D11, and this D11 indicates the distance deviation. The distance deviation between the end point P12 and the point PC2 on the road surface 80 is D12 (>D11). That is, the greater the curvature of the virtual image display surface 400, the farther the end points are from the road surface, and the greater the distance deviation accordingly.

In FIG. 14(a), the difference between θHUD and θscene is called the convergence angle difference. It is preferable to set the convergence angle difference to a predetermined value (threshold value) θth or less (or less). That is, the amount of displacement of the convergence angle caused by the shift between the image forming point of the virtual image and the image forming point of the real scene (here, the road surface) corresponding to the image forming point is set to the threshold value θth or less (or less). Therefore, it is possible to reduce the viewer's discomfort caused by distance deviation (also referred to as defocus). Therefore, visibility of the HUD device is improved. According to the embodiment of the present invention, the degree of curvature of the virtual image display surface 400 can be reduced to reduce the distance between the corner point P11 and the road surface 80 (in other words, the lift amount of the corner point P11). Further, by positioning at least part of the virtual image display surface 400 under the road surface 80, the distance between the end point P11 and the road surface 80 can be reduced. Therefore, it is possible to prevent θscene from becoming too small. θHUD is fixed. Therefore, it is possible to sufficiently suppress the convergence angle difference (θHUD−θscene). Therefore, a good-looking virtual image display (road surface superimposed display, etc.) is realized. A specific numerical value of the threshold θth will be described later.

As shown in FIG. 14C, when the eye point EP(C) of the viewer moves to the left eye point EP(L), the point PC1 on the road surface moves to the imaging point G11, and the point PC1 moves to the imaging point G11. PC2 moves to point G21. When the eye point EP(C) of the viewer moves to the eye point EP(R) on the right side, the point PC1 on the road surface moves to the point G13, and the point PC2 moves to the point G23. Such displacement of the point in the real scene corresponding to the imaging point of the virtual image accompanying the movement of the eye point (this is referred to as a drawing position displacement) also gives the viewer a sense of discomfort and delays the steering wheel operation. may have unfavorable effects on According to the embodiment of the present invention, the distance between the end point P11 and the road surface 80 can be reduced as described above. Therefore, in a HUD device with a wide viewing angle and a long virtual image display distance, for example, even when a virtual image is displayed over a wide range (wide range from near to far), it is possible to display the entire image without discomfort. Therefore, the reliability of the HUD device is improved.

Reference is now made to FIG. FIGS. 15A and 15B are diagrams for explaining the relationship between the virtual image display distance and the convergence angle difference. In FIG. 15A, the amount of distance deviation between the focus position (imaging point) of the HUD device and the point on the road surface 80 corresponding to the imaging point is 1 m. Also in FIG. 15(b), the distance deviation amount is 1 m. However, in the case of FIG. 15(a), the virtual image display distance DHUD is 5 m, whereas in FIG. 15(b), the virtual image display distance FHUD is 10 m.

In FIGS. 15A and 15B, the distance deviation amount is the same, but the virtual image display distance is different, so there is a difference in the convergence angle difference. That is, in the example of FIG. 15(a), the convergence angle difference is 0.068 degrees, and in the example of FIG. 15(b), the convergence angle difference is 0.034. The convergence angle difference is calculated assuming that the distance between the pupils is 65 mm. If the distance deviation amount is the same, the longer the virtual image display distance, the smaller the convergence angle difference. Therefore, it can be said that the problem of reduced virtual image visibility due to the convergence angle difference tends to occur when the virtual image display distance is small.

A HUD device that has a wide viewing angle and can place a virtual image at a certain distance requires a virtual image display distance of about 5 m, and as in the example of FIG. Visibility is not so affected. Therefore, the convergence angle difference (=0.068 degrees) in the example of FIG. 15(a) can be a threshold value for determining visibility deterioration.

In other words, when the direction along the width of the vehicle is referred to as the left-right direction, the viewpoint of the viewer of the virtual image who is the passenger of the vehicle is positioned at the central eye point of the eye box in the left-right direction, and the virtual image display distance is A virtual image is displayed in front of 5 m or more, and the convergence angle for one point of the virtual image is the first convergence angle θHUD, and the convergence angle for the point on the road surface that is the superimposed object corresponding to one point of the virtual image When the second convergence angle θscene and the difference between the first convergence angle and the second convergence angle is the convergence angle difference, the convergence angle difference is set to 0.068 degrees or less, so that a virtual image display distance of 5 m or more In virtual image display at , it is possible to suppress deterioration in visibility.

Reference is now made to FIG. Each of FIGS. 16A to 16C is a diagram for explaining an example of the shape of the concave virtual image display surface and the relationship between each example and the road surface position. Shape examples of the virtual image display surface 400 having a cross-sectional shape of a curved surface (partially arcuate, partially spherical, etc.) can be generally classified into three types shown in FIGS. . Note that 80, 80a, and 80b all represent road surfaces. In order to explain the relative positional relationship between the road surface and the virtual image display surface, the position of the road surface (ground) is gradually changed.

In the example of FIG. 16A, when the direction along the line segment perpendicular to the road surface 80 is defined as the vertical direction, the end on the near side (here, the end point Q3 on the near side is regarded as the end). This point applies hereinafter) is the same as the position in the vertical direction of the end on the far side (end point Q1 on the far side), and the central portion (central point Q2) is the same as Q1 , Q2. When the road surface is indicated by reference numerals 80a and 80b, at least part of the virtual image display surface 400 is positioned below the road surface. When the road surface is indicated by reference numeral 80a, (at least part of) the central portion with the long partial arc is below the road surface, and that portion (which is often considered to be the main portion of the virtual image) is on the road surface. It will stick and be felt. In addition, both ends (both points Q1 and Q3) are kept small from being lifted from the road surface. Therefore, it is easy to ensure flatness.

In the case of FIG. 16A, the virtual image display surface 400 is symmetrical with respect to a line segment that is perpendicular to the road surface 80 and passes through the center point Q2, and is symmetrical and balanced. Even if an image is curved, the human visual characteristic has the effect of averaging the entire image and capturing it flat. Therefore, there is an advantage that it is easy to realize a superimposed display that ensures flatness over a wide range.

In addition, in FIG. 16A, when the road surface is indicated by reference numeral 80, the entire virtual image display surface 400 is positioned on the road surface. If the entirety of the virtual image display surface 400 is on the road surface (ground), the virtual image display surface 400 appears to rise above the road surface 80 to some extent. According to this, the difference between the virtual image and the road surface is made uniform, thereby ensuring flatness. Also, the distance between the road surface and the virtual image (floating amount) can be suppressed within the allowable range.

In FIG. 16B, the cross-sectional shape of the virtual image display surface 400 is such that the end on the far side (end point Q1 on the far side) is located below the end on the near side (end point Q3 on the near side). Also, the center point Q2 is located below Q1 and Q2. When the road surface is indicated by reference numeral 80a, at least a portion of the far side end (far side end point Q1) is positioned below the road surface 80a. The example of FIG. 16(b) is especially useful for achieving flatness near the end on the far side (end point Q1 on the far side) and adhesion to the road surface. In particular, as in the arrow mark shown in FIG. 10(a), when the direction of the arrow at the tip has an important meaning as navigation information, it is necessary to be able to read the arrow part accurately. The display example of FIG. 16(b) can be applied.

In the example of FIG. 16C, the end on the near side (end point Q3 on the near side) is positioned below the end on the far side (end point Q1 on the far side). Also, the center point Q2 is located below Q1 and Q2. When the road surface is indicated by reference numeral 80a, at least a part of the end on the near side (end point Q3 on the near side) is positioned below the road surface 80a. The example of FIG. 16(c) is particularly useful for reliably achieving flatness near the edge on the near side (end point Q3 on the near side) and sticking to the road surface. For example, as shown in FIG. 15, when the virtual image display distance is shortened, defocusing due to the difference in convergence angle tends to become a problem. In such a case, it is preferable to pay attention to the end portion on the near side (end point Q3 on the near side) and reliably realize the flatness of that portion or the ability to adhere to the road surface in close contact. Therefore, the example of FIG. 16(c) can be applied.

Reference is now made to FIG. Each of FIGS. 17A to 17I is a diagram specifically showing an example of the shape of the concave virtual image display surface and the relationship between each example and the position of the road surface. In FIG. 17, the direction along the line segment perpendicular to the road surface 80 is referred to as the vertical direction. When the road surface 80 is horizontal, the downward direction coincides with the vertical downward direction. Upward corresponds to the opposite direction of vertical downward.

In each example of FIGS. 17A to 17I, the vertical position of the central region (middle region, central portion) between the far side end and the near side end of the virtual image display surface 400 is It is located below the distal end and the proximal end. The center point (central point) of the middle region (central portion) is the lowest position. The distance between the lowest position of the virtual image display surface 400 and the road surface 80 and the distance between the highest position of the virtual image display surface 400 and the road surface 80 can be kept small, and defocus (FIG. 14A, FIG. 15) and drawing position shift (see FIG. 14C) can be suppressed.

As shown in FIGS. 14A and 15, the defocus is determined by the angle of convergence θHUD when one point on the virtual image display surface is viewed, and the actual background of the point on the virtual image display surface (the road surface in this case). ) is the difference from the convergence angle θscene (convergence angle difference). By reducing the convergence angle difference, it is possible to suppress the inconvenience that, when one of them is seen, the other appears to be inconsistent.

As shown in FIG. 14(c), when there is a distance in the depth direction between the image and the road surface, the drawing position shifts between the image and the road surface when the eye position is moved within the eyebox. A shift occurs, and the position shift is called a drawing position shift. By reducing the degree of curvature of the virtual image display surface 400 or placing at least a portion of the virtual image display surface 400 under the road surface, the distance between the image and the road surface can be reduced. Rendering position shift (and motion parallax) is also suppressed.

Next, attention is paid to FIGS. 17(b), (c), (e), (f), (h), and (i). In these examples, at least part of the central portion (middle area) of the virtual image display surface 400 is arranged below the road surface 80 . In this example, it is possible to make it difficult for the highest position of the virtual image display surface 400 in the vertical direction to be higher than the road surface. As described above, the floating of the image with respect to the road surface is likely to be perceived by the viewer, and is likely to cause discomfort. Effectively lowering the highest position of the virtual image display surface 400 effectively reduces the floating of the image (virtual image) from the road surface, thereby improving the visibility of the image.

Next, attention is paid to FIGS. 17(b), (e), and (h). In these examples, at least part of the central portion (middle region) of the virtual image display surface 400 is arranged below the road surface 80, and the far side end and/or the near side end is It is placed above the road surface. In other words, only part of the central area (middle area, central portion) is arranged below the road surface. In these examples, the distance between the lowest position of the virtual image display surface 400 (any one of the far end, the middle area, and the near end) and the road surface can be sufficiently reduced. Therefore, it is effective in ensuring the flatness of the displayed image (virtual image).

Next, attention is paid to FIGS. 17(g) and (h). In these examples, the lowest position is arranged on the near side of the center between the far side end and the near side end of the virtual image display surface 400 . As shown in FIG. 15B, as the distance increases, it becomes more difficult for the viewer to recognize the distance between the virtual image display surface and the actual scene (road surface). Therefore, it is possible to place the sensitive near side closer to the road surface to emphasize matching with the actual scene (road surface) and ensure matching with the actual scene (road surface) on the distant side.

Next, attention is paid to FIGS. 17(d), (e), and (f). In these examples, the lowest position is arranged on the far side of the center between the far side end and the near side end of the virtual image display surface 400 . When the vehicle bounces due to unevenness of the road surface, etc., and the pitching angle of the vehicle with respect to the road surface changes, the position of the virtual image display surface on the far side changes greatly. That is, the virtual image display surface tends to separate from the road surface. As described above, the floating of the image with respect to the road surface is likely to be perceived by the viewer, and is likely to cause discomfort. Therefore, by arranging the lowest position on the far side of the virtual image display surface 400, even if the pitching angle of the vehicle with respect to the road surface changes, the far side (the entire virtual image display surface) is prevented from shifting above the road surface. can do.

Further, in the above embodiments, the optical system includes a concave mirror (magnifying reflector), but optical characteristics (including optical power) obtained by synthesizing one or more optical members have a magnifying function. , one or more refractive optical members such as lenses, diffractive optical members such as holograms, reflective optical members, Or it may contain a combination of these. In the optical system of this embodiment, the optical characteristics of the optical member may be changed for each optical path through which a plurality of display lights for displaying a virtual image on each region of one or a plurality of virtual image display surfaces pass. That is, adjusting the optical power (an example of optical characteristics) of the entire area or a part of these optical members, adjusting the arrangement of the optical member and the display surface, and adjusting the shape of the display surface. , or a combination thereof, the concavity of the virtual image display surface can be formed and adjusted.

Reference is now made to FIG. FIG. 18 is a diagram showing an example of the system configuration of a head-up display device. The system shown in FIG. 18 has a display control device 740, an object detection unit 801, a vehicle information detection unit 803, a display unit 12, a first actuator 177, and a second actuator 179. The display controller 740 has an I/O interface 741 , a processor 742 and a memory 743 . The display control device 740, the object detection unit 801 and the vehicle information detection unit 803 are connected to a communication line (BUS etc.).

The display control unit 740 can be used as the control unit 171 shown in FIG. 11, for example. Further, the first actuator 177 and the second actuator 179 can be used as the rotating mechanism 179 and the adjustment unit 173 shown in FIG. 11, and can individually adjust the whole and details of the optical system 121 shown in FIG. You can also use it to These can also be called an adjustment system for the optical system.

Also, the object detection unit 801 can be configured by, for example, an exterior sensor or an exterior camera provided in the vehicle 2 (or 200). Further, the vehicle information detection unit 803 can be configured by, for example, a speed sensor, a vehicle ECU, an external communication device, a sensor for detecting eye positions, or a height sensor. Based on the detection information from the object detection unit 801 and the information from the vehicle information detection unit 803, the display control device 740, for example, optimally operates the optical system to display the road surface with high superimposition on the road surface. It is also possible to implement a superimposed HUD.

The one or more processors 742 may also obtain, for example, the position of the road surface 80 and, based on the position of the road surface 80 , such that at least a portion of the virtual image display surface 400 is positioned below the road surface 80 . At least one of the first and second actuators 173, 175 can be driven.

Although the present invention has been described above based on the embodiments, the present invention is not limited to the above embodiments, and various modifications and applications are possible. The term vehicle should be interpreted broadly as a vehicle (or vehicle-like simulator). For example, the HUD device of the present invention can be applied to an aircraft cockpit simulator or the like. In this case, the term road surface is also interpreted broadly, for example, as reference surface.

1, 21 head-up display device 2 vehicle 3 front windshield (reflecting translucent member)
5 display light 6 virtual image 8 road surface 9, 22 virtual image display surface 12 display section (display means)
14 image generator (display means, adjustment means)
16 object detection unit (road surface detection means)
23 Far end 24 (of the virtual image display surface for the vehicle) Near end 26 (of the virtual image display surface for the vehicle) Road-related virtual image (virtual image)
27 virtual planes 28, 29 virtual plane image 80 road surface (ground)
120 optical system 130 concave mirror (magnifying reflector)
139 reflecting surface of concave mirror 150 light projecting unit 160 image display unit (display, screen)
164 display surface 171 control unit (display control device)
173 adjuster (actuator)
175 rotation mechanism (actuator)
177 First actuator 179 Second actuator 400 Virtual image display surface 403 Far side end 405 of virtual image display surface Central portion of virtual image display surface (middle area, central area)
406 Near end 740 of virtual image display screen Display control device 801 Object detection unit 803 Vehicle information detection unit Q1 Far side end point Q2 of virtual image display surface Center point Q3 of virtual image display surface End point near the virtual image display surface

Claims (6)

Display light is projected onto a translucent reflective member provided on a vehicle running on a road surface, and a virtual image is generated and displayed by the display light reflected by the translucent reflective member superimposed on the actual scene transmitted through the translucent reflective member. A head-up display device comprising display means for
an image display unit having a display surface for displaying an image; and an optical system including an optical member for projecting the display light onto the reflective translucent member,
By adjusting the optical characteristics of the entire area or a part of the optical system, adjusting the arrangement of the optical member and the display surface, adjusting the shape of the display surface, or a combination thereof , a head-up display device , which is entirely or partly under the road surface, is formed in a concave curved surface shape on the upper side, and forms a virtual image display surface for displaying the virtual image. Display light is projected onto a translucent reflective member provided on a vehicle running on a road surface, and a virtual image is generated and displayed by the display light reflected by the translucent reflective member superimposed on the actual scene transmitted through the translucent reflective member. A head-up display device comprising display means for
an image display unit having a display surface for displaying an image; and an optical system including an optical member for projecting the display light onto the reflective translucent member,
a proximal end with respect to the vehicle;
a distal end; and
a central portion located between the proximal end and the distal end;
When the direction along the line segment perpendicular to the road surface is called the vertical direction,
The position of the end on the near side in the vertical direction is the same as the position of the end on the far side in the vertical direction, and at least a part of the central part is located below the road surface.
or
The far end is located below the proximal end, and at least a portion of the far end is located below the road surface.
or
The end on the near side is positioned below the end on the far side, and at least part of the end on the near side is positioned below the road surface ,
By adjusting the optical characteristics of the entire area or a part of the optical system, adjusting the arrangement of the optical member and the display surface, adjusting the shape of the display surface, or a combination thereof 1. A head-up display device, comprising: a head-up display device which is formed in a curved shape with a concave upper portion, and which forms a virtual image display surface for displaying the virtual image . The near end and the far end are located above the road surface,
The head-up display device according to claim 2 , characterized in that: The optical member has a concave mirror having a curved reflecting surface,
4. The head-up display according to any one of claims 1 to 3, wherein the shape of the curved reflecting surface of the concave mirror is adjusted to produce a concave curved surface shape of the virtual image display surface. Device. When the direction along the width of the vehicle is referred to as the left-right direction,
The visual point of the virtual image viewer who is the passenger of the vehicle is positioned at the center eye point in the left-right direction of the eye box, and the virtual image is displayed in front of the virtual image display distance of 5 m or more, and The convergence angle for one point of the virtual image is the first convergence angle, the convergence angle for the point on the road surface that is the superimposed object corresponding to the one point of the virtual image is the second convergence angle, and the first convergence When the difference between the angle and the second convergence angle is the convergence angle difference,
The head-up display device according to any one of claims 1 to 4, wherein the convergence angle difference is 0.068 degrees or less. Display light is projected onto a translucent reflective member provided on a vehicle running on a road surface, and a virtual image is generated and displayed by the display light reflected by the translucent reflective member superimposed on the actual scene transmitted through the translucent reflective member. A head-up display device comprising display means for
an image display unit having a display surface for displaying an image; and an optical system including an optical member for projecting the display light onto the reflective translucent member,
By adjusting the optical characteristics of the entire area or a part of the optical system, adjusting the arrangement of the optical member and the display surface, adjusting the shape of the display surface, or a combination thereof , forming a virtual image display surface formed in a curved shape with a concave upper portion for displaying the virtual image,
one or more actuators configured to move or/and rotate the display surface or/and the optical member;
one or more I/O interfaces;
one or more processors;
memory;
one or more computer programs stored in said memory and configured to be executed by said one or more processors;
The one or more processors are
obtaining the position of the road surface;
driving the actuator so that at least part of the virtual image display surface is arranged under the road surface based on the position of the road surface;
A head- up display device characterized by:

Images