JP7379946B2 - display device - Google Patents

Description

The present invention relates to a display device.

Patent Documents 1 to 3 disclose display devices that display an image that is visually recognized by a user (mainly a vehicle driver) as a virtual image that overlaps with the scenery in front of the vehicle. The display devices disclosed in Patent Documents 1 to 3 display a notification for notifying the presence of a forward object, etc. at a position corresponding to the position of the forward object existing in front of the vehicle (for example, a position superimposed on the forward object). Display the image as a virtual image. Each of these display devices uses unique controls to prevent the notification image from shifting from the desired display position due to external factors such as vibrations applied to the vehicle or the behavior of an object in front, giving the user a sense of discomfort. suppress.

JP2015-80988A Unexamined Japanese Patent Publication No. 2017-13590 JP2017-171226A

Factors that cause the notification image to deviate from the desired display position include not only the above-mentioned external factors but also internal factors such as the load of drawing control and sensing processing of objects in front. Therefore, there is room for improvement in preventing the user from feeling uncomfortable due to the shift in the display position of the notification image.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide a display device that can prevent a user viewing a notification image from feeling uncomfortable.

In order to achieve the above object, a display device according to the present invention is a display device that displays a superimposed image that is visually recognized by a user as a virtual image that overlaps with the scenery in front of a vehicle, and includes information regarding a front object that exists in front of the vehicle. an acquisition means for acquiring object information including at least position information of the forward object; and a response corresponding to the position information within the display area of the superimposed image based on the object information acquired by the acquisition means. a drawing control means for drawing a notification image at a position to notify information regarding the forward object; and a drawing control means for drawing a notification image at a position, and the notification image drawn based on the object information acquired at a predetermined timing, the notification image being displayed with a delay from the predetermined timing. identifying means for identifying a display delay factor that causes a display delay, wherein the notification image is composed of a linear image and is visually recognized along a direction intersecting a direction in which the vehicle and the object ahead face each other. the display delay factor is specified based on at least one of a drawing control load by the drawing control means and a transmission delay of the object information; When the value indicated by the display delay factor is greater than or equal to a predetermined value, the notification is made so that the line width of the specific linear image is enlarged by a predetermined amount of enlargement in the direction in which the forward object moves with respect to the vehicle. Execute line width enlargement processing for drawing an image, and when the forward object is in a specific moving state approaching the vehicle from a position separated by a specific distance or more from the vehicle in a cross direction that intersects the traveling direction of the vehicle, The amount of expansion is corrected so that the amount of expansion is larger when the line width expansion process is executed than when the forward object is not in the specific movement state.
Further, a display device according to the present invention is a display device that displays a superimposed image that is visually recognized by a user as a virtual image that overlaps with the scenery in front of a vehicle, and the display device includes at least information regarding a forward object that exists in front of the vehicle. an acquisition unit configured to acquire object information including position information of the forward object; and an acquisition unit that acquires object information including position information of the forward object; and based on the object information acquired by the acquisition unit, the front A drawing control means for drawing a notification image for notifying information about an object, and a display that causes the notification image to be drawn based on the object information acquired at a predetermined timing to be displayed with a delay from the predetermined timing. identifying means for identifying a delay factor, wherein the notification image is composed of a linear image, and the notification image is a specific linear image that is visually recognized along a direction intersecting a direction in which the vehicle and the forward object face each other. The display delay factor is specified based on at least one of a drawing control load by the drawing control means and a transmission delay of the object information, and the drawing control means specifies the display delay factor as indicated by the specified display delay factor. If the value is equal to or greater than a predetermined value, a line for drawing the notification image such that the line width of the specific linear image is enlarged by a predetermined amount of enlargement in the direction in which the forward object moves relative to the vehicle and is visually recognized. Executing a width expansion process, the specifying means sets the drawing control load as the display delay factor to the content image that is drawn in the display area by the drawing control means and includes the notification image. Identify based on area, number, and/or dimension.

According to the present invention, it is possible to prevent a user viewing a notification image from feeling uncomfortable.

(a) is a diagram showing an example of how the head-up display (HUD) device according to the first embodiment of the present invention is installed in a vehicle, and (b) is a diagram showing the relationship between the user's viewpoint position and the virtual image. It is a diagram. FIG. 1 is a block diagram of a vehicle display system. (a) shows a display example of a notification image according to the first embodiment, and (b) is a diagram showing an example of occurrence of display shift. FIG. 6 is a diagram showing an example of display of a notification image when image enlargement processing according to the first embodiment is executed. (a) is a diagram showing an example of occurrence of display shift, and (b) is a diagram showing a display example of a notification image when the image enlargement process according to the first embodiment is executed. (a) shows an example of a notification image of a specific type, and (b) is a diagram showing an example of a notification image that is not of a specific type. (a) and (b) are diagrams showing configuration examples of various tables used in display control processing according to the first embodiment. (a) and (b) are diagrams showing configuration examples of various tables used in display control processing according to the first embodiment. 7 is a flowchart of display control processing according to the first embodiment. (a) is a diagram showing a state in which a display shift occurs in the notification image according to the second embodiment, and (b) is a diagram showing the notification image when the image position adjustment process according to the second embodiment is executed. It is a figure showing an example of a display. (a) and (b) are diagrams for explaining a specific moving state of a forward object. FIG. 7 is a diagram illustrating a configuration example of a movement amount determination table used in display control processing according to the second embodiment. It is a flowchart of display control processing concerning a 2nd embodiment. (a) is a diagram showing a state where a display delay has occurred in the notification image according to the third embodiment, and (b) is a diagram showing the notification image when the line width expansion process according to the third embodiment is executed. It is a figure showing an example of a display. (a) is a diagram showing an example of occurrence of display shift, and (b) is a diagram showing a display example of a notification image when line width enlargement processing according to the third embodiment is executed. FIG. 7 is a diagram showing an example of the configuration of an enlargement amount determination table used in display control processing according to a third embodiment. It is a flowchart of display control processing concerning a 3rd embodiment.

A display device according to an embodiment of the present invention will be described with reference to the drawings.

(First embodiment)
The display device according to this embodiment is a HUD (Head-Up Display) device 10 included in a vehicle display system 100 shown in FIG. As shown in FIG. 1(a), the HUD device 10 is provided inside the dashboard 2 of a vehicle 1 (hereinafter also referred to as own vehicle 1), and provides information regarding the vehicle 1 (hereinafter referred to as vehicle information). In addition, information other than vehicle information is also comprehensively reported to the user 4 (mainly the driver of the vehicle 1). Note that the vehicle information includes not only information about the vehicle 1 itself but also information external to the vehicle 1 related to the operation of the vehicle 1.

The vehicle display system 100 is a system configured within the vehicle 1, and as shown in FIG. and a car navigation device 70.

The HUD device 10 emits display light Q toward the windshield 3 of the vehicle 1, as shown in FIG. 1(a). The display light Q reflected by the windshield 3 heads toward the user 4 side. The user 4 can visually recognize the image represented by the display light Q displayed in front of the windshield 3 as a virtual image A by placing his or her viewpoint within the eye box 5 . Thereby, the user 4 can visually recognize the virtual image A superimposed on the front scenery.

The HUD device 10 displays a virtual image A on a virtual plane set in front of the vehicle 1, as shown in FIG. 1(b). The virtual plane is set at a position a predetermined distance P (for example, about 5 to 10 meters) away from the viewpoint position 4a when the user 4 places the viewpoint in the eyebox 5 in front of the vehicle 1. The virtual surface corresponds to the image display surface on the display unit 20. The virtual surface and the eyebox 5 are set based on the size of the display surface and the optical system configured by various mirrors and the windshield 3 in the HUD device 10.

The HUD device 10 includes a display section 20 and a control device 30 shown in FIG. 2, and a reflection section not shown.

The display unit 20 displays a superimposed image that is visually recognized by the user 4 as a virtual image A under the control of the control device 30 . The display unit 20 includes, for example, a TFT (Thin Film Transistor) type LCD (Liquid Crystal Display), a backlight that illuminates the LCD from behind, and the like. The backlight includes, for example, an LED (Light Emitting Diode). The display unit 20 generates display light Q by displaying an image on an LCD illuminated by a backlight under the control of the control device 30. The generated display light Q is emitted toward the windshield 3 after being reflected by the reflection section. The reflecting section is composed of two mirrors, for example, a folding mirror and a concave mirror. The folding mirror folds back the display light Q emitted from the display section 20 and directs it toward the concave mirror. The concave mirror magnifies the display light Q from the folding mirror and reflects it toward the windshield 3. Thereby, the virtual image A that is visually recognized by the user 4 becomes an enlarged image of the image displayed on the display unit 20. Note that the type and number of mirrors constituting the reflecting section can be arbitrarily changed according to the design.

In addition, below, displaying the image visually recognized by the user 4 as the virtual image A by the display unit 20 is also referred to as "displaying a superimposed image." Furthermore, the fact that the control device 30 controls the display of the display unit 20 is also referred to as "controlling the display of a superimposed image." In addition, the display unit 20 is not limited to an LCD as long as it can display a superimposed image, and may be an OLED (Organic Light Emitting Diodes), a DMD (Digital Micro mirror Device), an LCOS (Liquid Crystal On Silicon), etc. A display device may also be used.

The control device 30 is composed of a microcomputer that controls the overall operation of the HUD device 10, and includes a control section 31 and a storage section 32. The control device 30 also includes a driver for driving the display unit 20 and an input/output circuit for communicating with various systems in the vehicle 1, as components not shown.

The storage unit 32 includes a ROM (Read Only Memory) that stores operating programs and various image data in advance, a RAM (Random Access Memory) that temporarily stores various calculation results, and the like. The ROM of the storage unit 32 stores data of an operation program for executing a display control process to be described later, data of various tables and formulas used when executing the display control process, and the like. The control unit 31 includes a CPU (Central Processing Unit) 31a that executes an operation program stored in the ROM of the storage unit 32, and a GDC (Graphics Display Controller) 31b that executes image processing in cooperation with the CPU 31a. The GDC 31b includes, for example, a GPU (Graphics Processing Unit), an FPGA (Field-Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), and the like. The GDC 31b is capable of both vector image drawing processing and raster image (bitmap image) drawing processing. Note that the configurations of the control device 30 and the control section 31 are arbitrary as long as they satisfy the functions described below.

The control section 31 drives and controls the display section 20 . For example, the control unit 31 drives and controls the backlight of the display unit 20 with the CPU 31a, and drives and controls the LCD of the display unit 20 with the GDC 31b that operates in cooperation with the CPU 31a.

The CPU 31a of the control unit 31 controls the superimposed image based on various image data stored in the ROM of the storage unit 32 in cooperation with the GDC 31b. The GDC 31b determines the control content of the display operation of the display section 20 based on the display control command from the CPU 31a. The GDC 31b reads image part data necessary to configure one screen displayed on the display section 20 from the ROM, and transfers it to the RAM of the storage section 32. Further, the GDC 31b uses the RAM to create picture data for one screen based on image part data and various image data received from outside the HUD device 10 via communication. Then, when the GDC 31b completes one screen worth of picture data in the RAM, it transfers it to the display unit 20 in accordance with the image update timing (frame rate). As a result, a superimposed image that is visually recognized by the user 4 as a virtual image A is displayed on the display unit 20. Further, a layer is assigned in advance to each image constituting the image visually recognized as the virtual image A, and the control unit 31 is able to individually control the display of each image.
Through such control, the control unit 31 draws the content image within the display area of the virtual image A. Note that the rectangular frame shown by virtual image A in FIG. 1(b), FIG. be. This is synonymous with displaying the content image within the display area of the superimposed image on the display unit 20 that displays the superimposed image that is visually recognized by the user 4 as the virtual image A.

The content image is any image drawn within the display area of the virtual image A, and includes a notification image C for reporting information regarding a forward object F existing in front of the vehicle 1. Under the control of the control unit 31, the notification image C is displayed at a corresponding position within the display area of the virtual image A that corresponds to position information (information indicating the position of the forward object F), which will be described later. Here, the corresponding position as the display position of the notification image C within the display area of the virtual image A is such that in an ideal state when the display shift described below does not occur, the notification image C is at least one part of the front object F. This is a position that is visually recognized by the user 4 in a manner superimposed on the front object F or in a manner adjacent to the front object F. The corresponding position can be set as appropriate depending on the type of the forward object F. FIG. 3(a) is an example in which a notification image C is displayed to notify the presence of a forward object F as a preceding vehicle. Note that the content images include not only the notification image C but also images showing vehicle information. For example, the image showing the vehicle information is an image A1 showing the vehicle speed, an image A2 showing the speed limit of the driving lane, etc. shown in FIG. 3(b). In addition, the objects F ahead to be notified by the notification image C are not limited to the preceding vehicle, but may also include pedestrians, buildings, parts of the road (for example, lane markings such as solid white lines or broken lines, intersections, branching roads), etc. It can be set arbitrarily.

Further, the control unit 31 communicates with each of the forward object detection unit 40, the viewpoint detection unit 50, the ECU 60, and the car navigation device 70. As the communication, communication methods such as CAN (Controller Area Network), Ethernet (registered trademark), MOST (Media Oriented Systems Transport) (registered trademark), and LVDS (Low Voltage Differential Signaling) are applicable.

The forward object detection unit 40 detects a forward object F located in front of the host vehicle 1, and supplies “object information” including at least position information of the forward object F to the control unit 31 as information regarding the detected forward object F. do. The position information included in the object information is, for example, as shown in FIG. 1(b), with the traveling direction of the vehicle 1 as the x-axis, the left-right direction of the vehicle 1 as the y-axis, and the height direction of the vehicle 1 as the z-axis. This is the data of the coordinates (x, y, z) in the case. Note that the origin of the coordinates may be any arbitrarily set position such as a representative point at the tip of the vehicle 1 or the center point of the vehicle 1.

The forward object detection section 40 is configured to include, for example, one or more combinations of various sensors described below and a processing section that processes information detected by the sensors.
For example, LiDAR (Light Detection And Ranging) can be used as a sensor constituting the front object detection section 40. The forward object detection unit 40 removes unnecessary point clouds from the point cloud data measured by LiDAR, and then performs clustering processing to detect one or more clusters (point cloud set). Further, the forward object detection unit 40 uses a discriminator to determine whether or not a cluster that is estimated to have measured a preset forward object F among the detected clusters is the forward object F. For example, as the clustering process, Euclidean Clustering in PCL (Point Cloud Library) can be used. Further, as a discriminator, an SVM (Support Vector Machine) can be used. In this way, the forward object detection unit 40 detects the position information (including information indicating the size of the forward object F) and the type of the forward object F (the preceding vehicle, Object information including type information indicating (pedestrian, building, etc.) is supplied to the control unit 31.
Further, the forward object detection unit 40 may be configured to include an imaging device that images the front scenery including the road surface on which the vehicle 1 is traveling. The imaging device includes, for example, a stereo camera. The forward object detection unit 40 calculates position information and type information of the forward object F by having a processing unit analyze data of an image captured by the imaging device using a known method such as a pattern matching method. The forward object detection section 40 then supplies this information to the control section 31 as object information. Note that the forward object detection unit 40 may be configured to include a sonar, an ultrasonic sensor, a millimeter wave radar, etc. that detect the forward object F.

The control unit 31 acquires object information from the forward object detection unit 40 and identifies the position of the forward object F within the display area of the virtual image A based on the acquired object information. Further, when there are a plurality of forward objects F detected by the forward object detection section 40, the control section 31 attaches identification information (ID) to each of the plurality of forward objects F, and uses the position information corresponding to the ID to The position of a predetermined forward object F is specified. Note that if the position information (coordinates) of the forward object F is known, the direction of the forward object F with respect to the own vehicle 1 can be specified. Furthermore, if the position information is known, the distance from the own vehicle 1 to the object F in front can be calculated. By time-differentiating the distance, the relative speed of the forward object F with respect to the host vehicle 1 can be calculated. The direction of the forward object F and the calculation of the distance and relative velocity may be performed by the forward object detection section 40 or the control section 31.

The viewpoint detection unit 50 has a publicly known configuration that detects the viewpoint position (including the direction of the line of sight) of the user 4, and includes, for example, an infrared camera that images the face of the user 4, and data of an image captured by the infrared camera (imaging data). ). The viewpoint position analysis unit specifies the viewpoint position of the user 4 by analyzing the image data using a known method such as a pattern matching method, and supplies information indicating the viewpoint position to the control unit 31 .

The ECU 60 controls each part of the vehicle 1, and supplies vehicle information regarding the own vehicle 1 to the control unit 31. Note that the control unit 31 may directly acquire vehicle speed information from various sensors such as a vehicle speed sensor. Vehicle information regarding the host vehicle 1 includes, for example, vehicle speed, engine rotation speed, warning information (low fuel, engine oil pressure abnormality, etc.). The control unit 31 controls the display of the superimposed image based on the vehicle information acquired from the ECU 60, and is also capable of displaying an image indicating predetermined vehicle information within the display area of the virtual image A. That is, within the display area of the virtual image A, images indicating vehicle information other than the notification image C can also be displayed.

The car navigation device 70 includes a GPS controller that calculates the position of the vehicle 1 based on a GPS (Global Positioning System) signal received from an artificial satellite or the like. The car navigation device 70 has a storage unit that stores map data, reads map data near the current position from the storage unit based on the position information of the vehicle 1 from the GPS controller, and travels to the destination set by the user 4. Determine the guidance route. Then, the car navigation device 70 outputs information regarding the position of the vehicle 1 and the determined guide route to the control unit 31. Further, the car navigation device 70 outputs information indicating the name and type of the facility in front of the vehicle 1, the distance between the facility and the vehicle 1, etc. to the control unit 31 by referring to the map data. Map data includes road shape information (lanes, road width, number of lanes, intersections, curves, branch roads, etc.), regulatory information on road signs such as speed limits, and information about each lane when there are multiple lanes. Various information is associated with location data. The car navigation device 70 outputs these various types of information to the control unit 31 as navigation data. Here, when the forward object F that is the target of notification of the notification image C is a building or an intersection, the navigation data includes object information regarding the forward object F, information for displaying the guidance route as the notification image C, and the vehicle 1 to the front object F is included for the control unit 31 to specify. That is, the control unit 31 may acquire object information from the car navigation device 70. The notification image C may be an image indicating a POI (Point of Interest) such as a destination or a facility, which is set in advance by the user 4 using the car navigation device 70. Note that the car navigation device 70 is not limited to one installed in the vehicle 1, but can also be a mobile terminal (smartphone, tablet PC (Personal Computer), etc.) that communicates with the control unit 31 by wire or wirelessly and has a car navigation function. ) may be realized.

The control unit 31 adjusts the display area of the virtual image A based on the position information of the forward object F specified based on the object information from the forward object detection unit 40 and the information regarding the viewpoint position of the user 4 input from the viewpoint detection unit 50. The display position of the notification image C within the display unit 20 is calculated and the display operation of the display unit 20 is controlled. Thereby, the control unit 31 displays the notification image C at a desired position (the above-mentioned corresponding position) with respect to the forward object F in the actual scene.

Note that the control unit 31 not only displays the content image including the notification image C in two dimensions (2D), but also displays it in 3D using three-dimensional (3D) image data stored in advance in the ROM of the storage unit 32. Display may be possible. In addition, the control unit 31 adopts a configuration in which the display light Q is projected onto the display surface (screen) of the display unit 20 as a process for correcting distortion of the virtual image A caused mainly due to the curved shape of the windshield 3. In this case, warping may be performed in which the image displayed on the screen is previously distorted in the opposite direction by an amount distorted by the optical meter after the display surface. Further, the control unit 31 may perform dynamic warping, which is warping according to the viewpoint position of the user 4. Dynamic warping uses parameters set for each of a plurality of regions obtained by dividing the rectangular region of the eyebox 5 into a grid pattern to realize distortion correction optimized according to the viewpoint position.

Here, a display example of the notification image C for notifying the forward object F is shown in FIG. 3(a). FIG. 3(a) is an example in which a notification image C is displayed at a desired display position, and an ellipse that is visually recognized on the road surface side of a front object F as a preceding vehicle, superimposing a part of the front object F. This is an example in which a notification image C of the shape is displayed.

The notification image C displayed according to the position of the forward object F may be displayed with a delay from the desired display timing due to its drawing control load (hereinafter also referred to as drawing load). When a display delay of the notification image C occurs, depending on the relative speed between the own vehicle 1 and the object F in front, a "display shift" occurs in which the notification image C deviates from the desired display position, giving the user a sense of discomfort. Put it away. FIG. 3(b) shows an example in which a display shift occurs in the notification image C due to an increase in the number of content images displayed within the display area of the virtual image A and an increase in the drawing load. . In FIG. 3(b), forward objects F include a preceding vehicle F1 existing in the lane in which the own vehicle 1 is traveling, a preceding vehicle F2 existing in the lane next to the traveling lane, and buildings F3 and F4 located in front of the own vehicle 1. is detected, and a display shift occurs in the notification images C (notification images C1 to C4) that notify each of these four forward objects F.
In order to reduce the sense of discomfort given to the user by such display shifts, the control unit 31 according to the first embodiment executes image enlargement processing.

From here on, the main functions of the control section 31 that executes image enlargement processing will be explained. The control unit 31 mainly functions as an acquisition means, a drawing control means, and a specifying means.

The acquisition means acquires the above-mentioned object information from the forward object detection section 40. The drawing control means draws a notification image C that is visible to the user 4 at a corresponding position corresponding to the position (position information) of the forward object F within the display area of the superimposed image, based on the object information acquired by the acquisition means. . The correspondence between the position information and the corresponding position (the display position of the notification image C within the display area of the virtual image A) is stored in the ROM of the storage unit 32 in advance.

Further, the identifying means identifies a display delay factor that causes the notification image C drawn based on the object information acquired by the acquiring means at a predetermined timing to be displayed with a delay from the predetermined timing. Specifically, the control unit 31 as a specifying means specifies the display delay factor as follows.

(About identifying the cause of display delay)
In order to identify the display delay factor, the control unit 31 first refers to the predicted drawing load determination table TA1 shown in FIG. The predicted drawing load (predicted drawing load L) when the drawing prediction means (mainly the GDC 31b) draws the image (including .) is determined. The predicted drawing load determination table TA1 is referred to, for example, for one content image, and is configured by corresponding combinations of the content type (2D or 3D) and drawing area S, and the predicted drawing load L. has been done. The predicted drawing load determination table TA1 is stored in the ROM of the storage unit 32 in advance.

The control unit 31 selects one screen worth of images created by the GDC 31b, which are transferred to the display unit 20 at predetermined update timings (hereinafter referred to as prediction target timings) in the frame rate from the next time onwards. , a predicted drawing load L is determined for one content image (hereinafter referred to as a prediction target image) by referring to the predicted drawing load determination table TA1. For example, if the type of the prediction target image is "2D" and its drawing area S is "S1≦S<S2", the control unit 31 refers to the predicted drawing load determination table TA1 and sets the predicted drawing load L to "2D". 10%.

If a plurality of prediction target images are included in one screen's worth of picture data drawn at the prediction target timing, the control unit 31 determines the predicted drawing load L by the number of prediction target images. Then, the control unit 31 adds up the determined predicted drawing loads L to obtain a total predicted drawing load ΣL. For example, as shown in FIG. 3(b), six content images are displayed in the display area of the virtual image A: four notification images C (C1 to C4), an image A1 representing the vehicle speed, and an image representing the speed limit of the driving lane. If there is, the predicted drawing load L for each of the six content images is determined, and these are summed to obtain the total predicted drawing load ΣL.

That is, the control unit 31 as a specifying means specifies the drawing control load as a display delay factor based on the area, number, and dimension of the content image (including the notification image C). Note that the control unit 31 may specify the drawing control load as a display delay factor based on at least one of the area, number, and dimension of the content image.

The control unit 31 that has calculated the total predicted drawing load ΣL refers to the predicted delay time determination table TA2 shown in FIG. (Determine TL). The predicted delay time determination table TA2 is configured such that the total predicted drawing load ΣL and the predicted delay time TL correspond to each other, and is stored in advance in the ROM of the storage unit 32. The control unit 31 refers to the predicted delay time determination table TA2 and determines the predicted delay time TL corresponding to the calculated total predicted drawing load ΣL.

Display delays of content images also occur due to system configurations other than the drawing load. For example, if the timing at which the forward object detection unit 40 senses a predetermined forward object F is set to t0, the notification image C is drawn based on the object information sensed at t0 at the timing t1 after t0. It is. In this embodiment, a sensing delay time TS, which is a delay time mainly caused by sensing, is considered as a display delay factor other than the drawing load. The sensing delay time TS is mainly a transmission delay of object information from the forward object detection section 40 to the control section 31, and is stored in advance as data in the ROM of the storage section 32.
The control unit 31 specifies the sum of the predicted delay time TL caused by the drawing load determined as described above and the sensing delay time TS as a display delay factor (T=TL+TS).

Note that the predicted delay time TL may be set in advance, taking into consideration not only the drawing load but also the display control and display operation of the display unit 20. Further, the sensing delay time TS may be determined by taking into account a processing delay when the forward object detection unit 40 calculates object information. Furthermore, as a display delay factor caused by the system configuration, the processing load when the control unit 31 executes the above-mentioned warping or dynamic warping may be considered. The processing load when performing dynamic warping can be predicted based on the number of preset viewpoint positions and the number of grids when dividing the eyebox 5 into multiple areas, or can be determined through experiments. It is possible.

(About image enlargement processing)
As described above, when the display delay factor is specified by the specifying means, the control unit 31 as the drawing control means sets the display delay factor to a size larger than the reference size if the value indicated by the specified display delay factor is greater than or equal to a predetermined value. Image enlargement processing for drawing the notification image C is executed.

The reference size is the size of the notification image C at a predetermined distance P (see FIG. 1(b)) determined according to the type of the notification image C. The reference size is not a fixed size within the display area of the virtual image A, but is based on reference information (formula data or table data) that defines the correspondence between the distance from the own vehicle 1 to the forward object F and the size of the reference size. It is variable. The reference information is stored in advance in the storage unit 32, and is set, for example, using perspective law such that the longer the distance to the forward object F to be notified, the smaller the reference size becomes. The control unit 31 draws the notification image C in a standard size based on the distance from the own vehicle 1 to the object F in front and the standard information.

When executing image enlargement processing, the control unit 31 serving as a drawing control unit determines the magnification with respect to the reference size as follows.

The control unit 31 refers to the first magnification determination table TA3 shown in FIG. 8(a) and determines the magnification (hereinafter referred to as the first magnification) corresponding to the display delay factor determined as described above. do. The first magnification determination table TA3 is configured such that display delay factors and first magnifications correspond to each other, and is stored in advance in the ROM of the storage unit 32.

Further, when the first magnification is determined and the relative speed between the vehicle 1 and the relatively approaching front object F is equal to or higher than the predetermined speed, the control unit 31 controls the speed as shown in FIG. 8(b). With reference to the second magnification determination table TA4, a magnification corresponding to the relative speed (hereinafter referred to as the second magnification) is determined. The second magnification determination table TA4 is configured such that the relative speed and the second magnification correspond to each other, and is stored in advance in the ROM of the storage unit 32.

The control unit 31 that has determined the second magnification determines the product of the first magnification and the second magnification as the magnification in the image enlargement process. For example, when the determined first magnification is "1.1" and the second magnification is "1.2", the control unit 31 calculates 1.1×1.2=1.32. 32 is determined as the magnification in the image enlargement process. In this case, the control unit 31 draws a notification image C that is 1.32 times the reference size according to the above-mentioned reference information. For example, the image enlargement process is performed while maintaining the aspect ratio of the notification image C of the reference size. Note that the shape of the notification image C is not limited to the elliptical shape shown in the illustrated example, but may be any other shape such as a rectangular, circular, triangular, or polygonal shape. Further, the configuration of the notification image C may be arbitrary as long as it can notify information regarding the forward object F, and may be, for example, characters, symbols, figures, icons, or a combination thereof.

FIG. 4 shows a display example of the notification image C when the image enlargement process is executed. When the value indicated by the display delay factor is greater than or equal to a predetermined value, image enlargement processing is executed to enlarge the standard size notification image C by the magnification determined as described above, thereby making the deviation from the desired display position less noticeable. This makes it possible to suppress the sense of discomfort given to the user.

In particular, when the vehicle 1 and the forward object F approach each other relatively in a predetermined direction, the control section 31 functioning as a drawing control means controls the control section 31, which functions as a drawing control section, to control the end portion B of the notification image C when executing the image enlargement process when the vehicle 1 and the forward object F relatively approach each other in a predetermined direction. , the notification image C is drawn so as to be enlarged and visually recognized toward the vehicle 1 side, with the end B visible at a position far from the vehicle 1 in the predetermined direction as a reference.

For example, in the state shown in FIG. 4, when the vehicle 1 and the front object F are relatively close to each other in the front-rear direction, when performing image enlargement processing, the end portion that is visible at a position far from the vehicle 1 in the front-rear direction The notification image C is drawn so as to be enlarged and visually recognized toward the vehicle 1 side with reference to B (the upper end in FIG. 4). In this way, even if a display shift occurs in which the notification image C is shifted above the desired display position due to a display delay, the display shift can be satisfactorily made less noticeable.

In addition, in FIG. 5(a), the forward object F is a road marking line (a white line in the example shown in the figure), and the notification image C that notifies the front object F is designed to emphasize the existence of the marking line. An example of display superimposed on a line is shown. In this case, the forward object F is an immovable object that does not move with respect to the ground, but as the vehicle 1 approaches the marking line, the display of the notification image C may shift as shown in FIG. 5(a). There is sex. In this way, when the vehicle 1 and the forward object F relatively approach in the lateral direction, when performing the image enlargement process, the object F that is visible in a position far from the vehicle 1 in the lateral direction is The notification image C is drawn so as to be enlarged and visually recognized toward the vehicle 1 with reference to the end B (the right end in FIG. 5(b)). In this way, even if a display shift occurs in which the notification image C shifts to the right of the desired display position due to a display delay, the display shift can be satisfactorily made less noticeable.

(Display control processing)
From here on, the display control processing executed by the control unit 31 will be explained with reference mainly to FIG. 9. The display control process is continuously executed, for example, while the ignition of the vehicle 1 is turned on.

When the display control process is started, the control unit 31 first determines whether the forward object F has been detected (step S101). When the object information is supplied from the forward object detection section 40, the control section 31 determines that the forward object F has been detected (step S101; Yes), and advances the process to step S102. On the other hand, if the forward object F is not detected (step S101; No), the control unit 31 waits in step S101.

Subsequently, the control unit 31 calculates the relative speed between the host vehicle 1 and the forward object F, as described above, based on the object information acquired from the forward object detection unit 40 (step S102).

Subsequently, the control unit 31 determines whether the notification image C for notifying the detected forward object F is a specific type of image (step S103).

Here, a specific type of image means that when the forward object F is an immovable object such as a road, a notification image C for notifying information about the immovable object is displayed at a desired display position (the above-mentioned corresponding position). On the other hand, even if the image is visually recognized as shifted in the traveling direction of the vehicle 1, it is an acceptable image for making the notification, and its type is stored in advance in the ROM of the storage unit 32. For example, as shown in FIG. 6(a), if the forward object F is the road surface in front of the vehicle 1 and the notification image C is simply a guidance display indicating to go straight, it is assumed that a display delay has occurred in the notification image C. However, there is little possibility that the user 4 will recognize that the display is shifted from the road ahead. Therefore, in this way, the notification image C such as a guide display indicating that the notification image C is to go straight is stored in advance as a specific type, and when the notification image C is an image of the specific type, the image enlargement process described below is not executed. . On the other hand, as shown in FIG. 6(b), when the forward object F is an intersection and the notification image C is a guidance display indicating a left turn, the notification image C is not set to the specific type. This is because if the notification image C in the form shown in FIG. 6(b) is visually recognized as shifted in the traveling direction of the vehicle 1, the guidance will be affected. In addition, when the notification image C provides guidance in a direction other than straight forward movement, the notification image C is not set as a specific type.

In step S103, if the notification image C is a specific type of image as shown in FIG. 6(b) (step S103; Yes), the control unit 31 moves the Normal image control is executed to display a notification image C of a standard size according to the above-mentioned standard information (step S104). Note that when a plurality of forward objects F are detected in step S101, the control unit 31 displays a notification image C corresponding to each of the plurality of forward objects F.

In step S103, if the notification image C is not an image of a specific type (step S103; No), the control unit 31 determines whether the forward object F is moving away at a predetermined relative speed or more based on the relative speed calculated in step S102. The determination is made based on this (step S103A). Specifically, the forward object F specified by the object information acquired in step S101 is a moving object such as a preceding vehicle, and the moving object is moving at a predetermined relative speed or higher predetermined in the ROM of the storage unit 32. 1 (step S103A; Yes), the control unit 31 executes normal image control (step S104). This is because the mobile object can be considered to be of low importance to the user 4 at the moment. Note that the moving object is an object that moves relative to the ground, such as a preceding vehicle or a pedestrian.

In step S103A, if the forward object F is not moving away at a predetermined relative velocity or higher (step S103A; No), the control unit 31 identifies the display delay factor (step S105). As described above, the control unit 31 determines the predicted delay time TL based on the type of notification image C to be displayed (2D or 3D), etc., the predicted drawing load determination table TA1, and the predicted delay time determination table TA2. do. Then, the control unit 31 specifies the sum of the determined predicted delay time TL and sensing delay time TS as a display delay factor (T=TL+TS).

Subsequently, the control unit 31 determines whether the value T indicating the display delay factor identified in step S105 is greater than or equal to a predetermined value T1 predefined in the ROM of the storage unit 32 (step S106). If the value T indicated by the display delay factor is less than the predetermined value T1 (step S106; No), the control unit 31 executes normal image control (step S104).

On the other hand, if the value T indicated by the display delay factor is greater than or equal to the predetermined value T1 (step S106; Yes), the control unit 31 determines the magnification for the reference size (step S107). Here, as described above, the control unit 31 refers to the first magnification determination table TA3 and determines the magnification (first magnification) corresponding to the display delay factor identified in step S105. Further, when the relative speed V between the vehicle 1 and the relatively approaching front object F is equal to or higher than a predetermined speed (V1 in the example of FIG. 8(b)), referring to the second magnification determination table TA4, A magnification (second magnification) corresponding to the relative velocity V is determined. Then, the control unit 31 determines the product of the first magnification and the second magnification as the magnification in the image enlargement process. Note that if the relative speed V is less than the predetermined speed V1, the first magnification is directly determined as the magnification in the image enlargement process.

Subsequently, the control unit 31 executes an image enlargement process to draw a notification image C whose reference size is enlarged by the magnification determined in step S107 (step S108). As mentioned above, when the vehicle 1 and the forward object F are relatively close in a predetermined direction, when performing image enlargement processing, the end B of the notification image C that is far from the vehicle 1 in the predetermined direction is The notification image C is drawn so as to be enlarged and visually recognized toward the vehicle 1 side with the end B visually recognized at the position as a reference. Note that if the vehicle 1 and the forward object F are not relatively approaching in the predetermined direction, the control unit 31 may enlarge the notification image C based on an arbitrary position. Further, when a plurality of forward objects F are detected in step S101, the control unit 31 controls the image of the image for which the magnification is determined in step S107 among the notification images C displayed corresponding to each of the plurality of forward objects F. Execute enlargement processing.

After executing step S108 and step S104, the control unit 31 executes the process again from step S101. The above display control process is continuously executed until, for example, the HUD device 10 is turned off. The description of the first embodiment is above.

From here, another embodiment that differs from the first embodiment in some processes in the display control process will be described. In the following embodiments, the configuration of the vehicle display system 100 is the same as that of the first embodiment. Therefore, in the following, each configuration similar to that of the first embodiment will be described using the same reference numerals as those of the first embodiment, and the points different from the first embodiment will be mainly described.

(Second embodiment)
Also in the second embodiment, the control unit 31 displays a notification image C for notifying the forward object F, for example, as shown in FIG. 3(a). Then, the control unit 31 according to the second embodiment performs image position adjustment processing, which will be described later, in order to reduce the sense of discomfort given to the user due to the occurrence of display shifts as shown in FIG. 3(b) and FIG. 10(a). Execute. The control unit 31 that executes display control processing including image position adjustment processing mainly functions as an acquisition means, a drawing control means, and a specifying means. The identifying means according to the second embodiment identifies the cause of display delay in the same manner as in the first embodiment.

(About image position adjustment processing)
When the display delay factor is specified by the specifying means, the control unit 31 as a drawing control means moves the desired display position (the above-mentioned corresponding position) to the vehicle when the value indicated by the specified display delay factor is greater than or equal to a predetermined value. Image position adjustment processing is executed to draw a notification image C that is visually recognized at an adjustment position that is moved by a predetermined amount of movement in the direction in which the forward object F moves with respect to 1. The control unit 31 serving as a drawing control unit determines the amount of movement of the notification image C in the following manner when executing the image position adjustment process.

When the value indicated by the display delay factor is greater than or equal to a predetermined value, the control unit 31 sets the movement amount to a predetermined value M (hereinafter, M is also referred to as a reference movement amount). Further, the control unit 31 determines the relative speed V between the host vehicle 1 and the object F in front, and determines the amount of movement corresponding to the determined relative speed V by referring to the movement amount determination table TA5 shown in FIG. The movement amount determination table TA5 is configured such that relative speeds and movement amounts correspond to each other, and is stored in advance in the ROM of the storage unit 32. For example, when the magnitude (absolute value) of the calculated relative velocity V is 0≦V<V1, the control unit 31 sets the movement amount of the notification image C to M as is. Further, when the magnitude of the calculated relative velocity V is V1≦V<V2, the control unit 31 sets the movement amount of the notification image C to α×M (α>1). That is, the control unit 31 increases the amount of movement when the relative speed V is the second value larger than the first value, compared to when the relative speed V is the first value.

Note that the control unit 31 may variably control the reference movement amount M itself such that the movement amount of the notification image C increases as the value indicated by the display delay factor increases. Further, the control unit 31 determines a coefficient (in the example of FIG. 12, α or β) according to the obtained relative speed V, and multiplies the reference movement amount M by the determined coefficient. The amount of movement of the notification image C may also be determined. Further, the relationship between the relative velocity V and the movement amount of the notification image C is stored in advance in the ROM of the storage unit 32 as data of a function (for example, a linear function or a quadratic function), and the control unit 31 The amount of movement of the notification image C may be determined based on a function.

FIG. 10(b) shows a display example of the notification image C when the image position adjustment process is executed. For example, when the display delay factor increases and the forward object F approaches the host vehicle 1, a display shift as shown in FIG. 10(a) occurs. In order to suppress the discomfort caused to the user 4 due to this display shift, the control unit 31 according to the second embodiment moves the desired display position (the above-mentioned corresponding position) to the vehicle when the value indicated by the display delay factor is greater than or equal to a predetermined value. Image position adjustment processing is performed to draw a visually recognized notification image C at an adjustment position that is moved by a predetermined amount of movement in the direction in which the forward object F moves relative to the front object F (downward in the example of FIG. 10).

In particular, the control unit 31 functioning as a drawing control unit controls the vehicle 1 from a position at least a specific distance away from the vehicle 1 in a cross direction (for example, the y direction) in which the forward object F intersects the traveling direction of the vehicle 1 (for example, the x direction). When the forward object F is in the specific moving state approaching 1, the moving amount is corrected so that the moving amount when executing the image position adjustment process is larger than when the forward object F is not in the specific moving state.
Here, the specific moving state of the forward object F will be explained with reference to FIGS. 11(a) and 11(b). FIG. 11A shows an example in which a forward object F approaches the own vehicle 1 straight at a relative velocity vector of magnitude v. On the other hand, FIG. 11(b) is an example in which the forward object F approaches the host vehicle 1 obliquely with a relative velocity vector of magnitude v. For the user 4 (mainly the driver), the case shown in FIG. 11(b) is better than the case shown in FIG. 11(a), even though the magnitude of the relative velocity in both cases is the same v. It's hard to get a sense of distance. In consideration of this, for example, the control unit 31 determines that the forward object F is approaching the own vehicle 1 and that the forward object F is approaching the own vehicle 1 based on the position information (x, y, z) included in the acquired object information. When the y-coordinate is located at a position that is a specific distance or more away from the vehicle 1, it is determined that the forward object F is in a specific moving state. The specific distance is stored in advance in the ROM of the storage unit 32 as a distance in the y direction.
Assuming that the amount of movement determined as described above is Mf, when it is specified that the forward object F is in a specific movement state, the control unit 31 adds the correction amount ΔM to Mf, and adjusts the amount of movement of the notification image C. is (Mf+ΔM). In this way, the notification image C can be displayed closer to the own vehicle 1, so that the presence of the forward object F in a specific moving state, which is assumed to be difficult for the user 4 to grasp the sense of distance, can be effectively notified. .

Note that, as shown in FIG. 5(a), even when the forward object F is a road marking line and the notification image C emphasizes the marking line for notification, the image position adjustment process according to the second embodiment is not performed. can be executed. As the vehicle 1 approaches the lane marking, there is a possibility that the display of the notification image C will shift as shown in FIG. 5(a). By drawing the notification image C that is visible at the adjustment position where the forward object F has moved by the determined movement amount in the direction in which the object F moves relative to the vehicle 1 (leftward in FIG. 5A), the display shift can be made noticeable. It can be eliminated. In this way, even if a display shift occurs in which the notification image C shifts to the right of the desired display position due to a display delay, the display shift can be satisfactorily made less noticeable.

(Display control processing)
From here on, display control processing according to the second embodiment will be explained with reference to FIG. 13. The control unit 31 executes steps S201 to S206 in the same manner as steps S101 to S106 described in the first embodiment.

In step S206, if the value T indicated by the display delay factor is greater than or equal to the predetermined value T1 (step S206; Yes), the control unit 31 determines the amount of movement of the notification image C from the corresponding position to the adjustment position (step S207). ). Here, as described above, the control unit 31 refers to the movement amount determination table TA5 and determines the movement amount corresponding to the relative velocity V obtained in step S202.

Subsequently, as described above, the control unit 31 determines whether or not the forward object F is in a specific moving state in which it approaches the host vehicle 1 from an angle (step S207A).

If the forward object F is not in the specific movement state (step S207A; No), the control unit 31 executes an image position adjustment process to draw the notification image C at an adjustment position moved from the corresponding position by the movement amount determined in step S207. (Step S208). Note that if the result in step S207A is No and the process transitions to step S208, the control unit 31 executes the image position adjustment process even if the forward object F is far from the host vehicle 1. Good too.

When the forward object F is in a specific movement state (step S207A; Yes), the control unit 31 adjusts the movement of the notification image C by adding the correction amount ΔM to Mf, where the movement amount determined in step S207 is Mf. The amount is corrected to (Mf+ΔM) (step S207B), and image position adjustment processing is executed using the corrected movement amount (step S208).

After executing step S208 and step S204, the control unit 31 executes the process again from step S201. The description of the second embodiment is above.

(Third embodiment)
In the third embodiment, the control unit 31 includes, for example, a linear image (an image visually recognized in a linear manner) as an image for notifying the forward object F, as shown in FIG. 14(a). Display the notification image C.

The notification image C is drawn, for example, by a vector image, and as shown in FIG. 14(a), it intersects the direction in which the vehicle 1 and the forward object F face each other (the vertical direction in FIG. 14(a)). It is configured to include a specific linear image Cs that is visually recognized along the direction, and a predetermined linear image Cn that is visually recognized as extending toward the front of the vehicle 1 from each of both ends of the specific linear image Cs. . Note that the predetermined linear image Cn in this embodiment is an image that is not subject to line width enlargement processing, which will be described later.

The notification image C shown in FIG. 14(a) is tilted so that the tips of the two predetermined linear images Cn approach each other, so that a sense of perspective is created and the notification image C is visually recognized along the road surface in front. This is an example of a mode. Note that FIG. 14(a) is an example in which the notification image C is displayed shifted from the desired display position due to the above-mentioned display shift.

The control unit 31 according to the third embodiment executes line width enlargement processing, which will be described later, in order to reduce the sense of discomfort given to the user due to the occurrence of display shift as shown in FIG. 14(a). The control unit 31 that executes display control processing including line width enlargement processing mainly functions as an acquisition means, a drawing control means, and a specifying means. The identifying means according to the third embodiment identifies the cause of display delay in the same manner as in the first and second embodiments.

(About line width expansion processing)
When the display delay factor is specified by the specifying means, the control unit 31 as a drawing control means changes the line width of the specific linear image Cs to the vehicle 1 when the value indicated by the specified display delay factor is greater than or equal to a predetermined value. On the other hand, line width enlargement processing is executed to draw the notification image C so that it is enlarged by a predetermined enlargement amount in the direction in which the forward object F moves and is visually recognized. The line width enlargement process is executed by enlarging a predetermined reference line width by a determined enlargement amount. The reference line width is the width of a linear image (including the specific linear image Cs) at a predetermined distance P (see FIG. 1(b)) determined according to the type of notification image C. The reference line width does not need to be fixed within the display area of the virtual image A, and the reference line width information (formula data or table data) that defines the correspondence between the distance from the own vehicle 1 to the forward object F and the reference line width. It may be variable depending on the situation. This reference line width information is stored in advance in the storage unit 32, and is set, for example, using perspective law so that the longer the distance to the forward object F to be notified, the narrower the reference line width is. The control unit 31 draws a notification image C composed of a linear image with a reference line width based on the distance from the host vehicle 1 to the object F in front and reference line width information.

When the value indicated by the display delay factor is greater than or equal to a predetermined value, the control unit 31 sets the enlargement amount to a predetermined value E (hereinafter, E is also referred to as a reference movement amount). Further, the control unit 31 determines the relative speed V between the own vehicle 1 and the object F in front, and determines the amount of expansion corresponding to the determined relative speed V by referring to the expansion amount determination table TA6 shown in FIG. The enlargement amount determination table TA6 is configured with relative speeds and enlargement amounts corresponding to each other, and is stored in advance in the ROM of the storage unit 32. For example, when the magnitude (absolute value) of the calculated relative velocity V is 0≦V<V1, the control unit 31 directly sets the enlargement amount of the specific linear image Cs to E. Further, when the magnitude of the calculated relative velocity V is V1≦V<V2, the control unit 31 sets the amount of enlargement of the specific linear image Cs to α×E (α>1). That is, the control unit 31 increases the amount of expansion when the relative velocity V is the second value larger than the first value, compared to when the relative velocity V is the first value.

Note that the control unit 31 may variably control the reference enlargement amount E itself such that the larger the value indicated by the display delay factor, the larger the enlargement amount of the specific linear image Cs. Further, the control unit 31 determines a coefficient (in the example of FIG. 16, α or β) according to the obtained relative speed V, and multiplies the reference enlargement amount E by the determined coefficient. The amount of enlargement of the specific linear image Cs may also be determined. Further, the relationship between the relative velocity V and the enlargement amount of the specific linear image Cs is stored in advance in the ROM of the storage unit 32 as data of a function (for example, a linear function or a quadratic function), and the control unit 31 The amount of expansion of the specific linear image Cs may be determined based on V and the function.

FIG. 14(b) shows a display example of the notification image C when the line width enlargement process is executed. For example, when the display delay factor increases and the forward object F approaches the host vehicle 1, a display shift as shown in FIG. 14(a) occurs. In order to suppress the discomfort caused to the user 4 due to this display shift, the control unit 31 according to the third embodiment causes the line width of the specific linear image Cs to be adjusted to the vehicle 1 when the value indicated by the display delay factor is equal to or greater than a predetermined value. On the other hand, line width enlargement processing is executed to draw the notification image C so that it is enlarged by the determined enlargement amount in the direction in which the forward object F moves (downward in the example of FIG. 14) and is visually recognized.

In particular, as described in the second embodiment, the control unit 31 functioning as a drawing control unit controls the forward object F in the intersecting direction (for example, the y direction) where the forward object F intersects the traveling direction (for example, the x direction) of the vehicle 1. , when the forward object F is in a specific movement state where it is approaching the vehicle 1 from a position more than a specific distance away from the vehicle 1, the amount of expansion when executing the line width enlargement process is larger than when the forward object F is not in the specific movement state. Correct the amount of enlargement.
Assuming that the enlargement amount determined as described above is Ef, when the control unit 31 specifies that the forward object F is in a specific moving state, it adds the correction amount ΔE to Ef and adjusts the specific linear image Cs. Let the amount of enlargement be (Ef+ΔE). In this way, the specific linear image Cs in the notification image C can be further enlarged toward the host vehicle 1 side, so that the presence of the forward object F in a specific moving state, which is assumed to be difficult for the user 4 to grasp the sense of distance, can be effectively detected. can be notified.

In addition, in FIG. 15(a), the forward object F is a road marking line (in the example shown in the figure, a white line), and the notification image C that notifies the front object F is designed to emphasize the existence of the marking line. An example of display superimposed on a line is shown. In the example of FIG. 15(a), the notification image C is configured in a substantially rectangular box shape, and is arranged in a direction intersecting the direction in which the vehicle 1 and the forward object F face each other (a section corresponding to the forward object F in FIG. 15(a)). Of the two linear images visually recognized along the direction in which the line extends, the one closest to the vehicle 1 is set as the specific linear image Cs. Of the notification images C composed of linear images, those other than the specific linear image Cs are set to a predetermined linear image Cn.
As the vehicle 1 approaches the marking line, there is a possibility that the display of the notification image C will shift as shown in FIG. 15(a). If line width enlargement processing is executed to draw the notification image C so that it is enlarged by a predetermined enlargement amount in the direction in which the forward object F moves (leftward in FIG. 15(b)) and is visually recognized, the display shift can be corrected. It can be made inconspicuous. In this way, even if a display shift occurs in which the notification image C shifts to the right of the desired display position due to a display delay, the display shift can be satisfactorily made less noticeable.

(Display control processing)
From here on, display control processing according to the third embodiment will be explained with reference to FIG. 17. The control unit 31 executes steps S301 to S306 in the same manner as steps S101 to S106 described in the first embodiment.

In step S306, if the value T indicated by the display delay factor is greater than or equal to the predetermined value T1 (step S306; Yes), the control unit 31 determines whether the forward object F is approaching the host vehicle 1 (step S306A). ). If the forward object F is not approaching the host vehicle 1 (step S306A; No), the control unit 31 draws the notification image C using normal image control without executing the line width enlargement process (step S304). As a result, for the notification image C where the forward object F is not approaching the own vehicle 1 and is considered to be of low importance to the user 4, the control burden can be reduced without executing the line width expansion process. can.
If the forward object F is approaching the host vehicle 1 (step S306A; Yes), the control unit 31 refers to the expansion amount determination table TA6 and determines the expansion amount corresponding to the relative velocity V determined in step S302. (Step S307).

Subsequently, the control unit 31 determines whether or not the forward object F is in a specific movement state in which it approaches the own vehicle 1 from an angle (step S307A), similarly to step S207A of the second embodiment.

If the forward object F is not in the specific moving state (step S307A; No), the control unit 31 executes a line width enlargement process to enlarge the line width of the specific linear image Cs in the notification image C by the enlargement amount determined in step S307. (Step S308).

When the forward object F is in a specific moving state (step S307A; Yes), the control unit 31 enlarges the notification image C by adding the correction amount ΔE to Ef, where the enlargement amount determined in step S307 is Ef. The amount is corrected to (Ef+ΔE) (step S307B), and line width enlargement processing is executed using the corrected enlargement amount (step S308).

After executing step S308 or step S304, the control unit 31 executes the process again from step S301. The description of the third embodiment is above.

Note that the present invention is not limited to the above embodiments and drawings. It is possible to make changes (including deletion of constituent elements) as appropriate without changing the gist of the present invention.

In the above example, the value indicated by the display delay factor is the delay time T, which is the sum of the predicted delay time TL caused by the drawing load and the sensing delay time TS, but the present invention is not limited to this. The display delay factor may be specified based on at least one of the drawing control load by the drawing control means and the transmission delay of object information. For example, the value indicated by the display delay factor may be the predicted drawing load L shown in FIG. 7(a). Then, the control unit 31 may determine the magnification according to the first embodiment, the movement amount according to the second embodiment, and the enlargement amount according to the third embodiment according to the predicted drawing load L. Moreover, although an example has been shown above in which the value indicated by the display delay factor is determined using table data, the control unit 31 may calculate the value indicated by the display delay factor using data of a mathematical formula. The data of the formula may be stored in advance in the ROM of the storage unit 32, and may be configured to be able to calculate the value indicated by the display delay factor from various parameters such as the type, area, and number of content images.

Further, the control unit 31 executes a combination of the image enlargement process according to the first embodiment, the image position adjustment process according to the second embodiment, and the line width enlargement process according to the third embodiment. Good too. For example, the control unit 31 determines the magnification when performing the image enlargement process and the amount of movement when performing the image position adjustment process according to the identified display delay factor, and enlarges the notification image C from the reference size. In addition to executing the image enlargement process, an image position adjustment process may be executed in which the display position of the notification image C is moved by the determined movement amount. In addition, when both the notification image C consisting of a linear image and the notification image C that is not a linear image (for example, a filled-in image, etc.) are displayed within the display area of the virtual image A, the control unit 31 may be capable of executing at least one of image enlargement processing and image position adjustment processing, and line width enlargement processing.

The notification image C described in the third embodiment may have any shape or aspect as long as it is composed of a linear image including the specific linear image Cs. For example, the notification image C may be a ring-shaped linear image. In this case, an arbitrary part of the ring-shaped linear image that is visible along a direction intersecting the direction in which the vehicle 1 and the forward object F face each other is defined as a specific linear image Cs, and other parts are defined as a predetermined line. image Cn.

Moreover, the specific linear image Cs in the notification image C described in the third embodiment may be a horizontal linear image along the left-right direction when viewed from the user 4. Furthermore, in the line width expansion process, at least a portion of the specific linear image Cs whose width has been expanded with respect to the reference line width may be blurred. For example, a portion of the specific linear image Cs whose width has been expanded from the reference line width may be blurred, or the entire enlarged specific linear image Cs may be blurred. By doing so, for example, it is possible to reduce the unnatural appearance caused by enlarging the specific linear image Cs, and it is also possible to improve the superimposition property with respect to the front object F. In addition, in the line width enlargement process, in addition to enlarging the line width of the specific line image Cs, the line width of the predetermined line image Cn (for example, a vertical line image generally along the vertical direction when viewed from the user 4) is increased. May be enlarged. The process of enlarging the line width of the predetermined linear image Cn in addition to enlarging the line width of the specific linear image Cs in this way is useful, for example, when the forward object F moves diagonally with respect to the host vehicle 1. be.

Although the configuration example in which the forward object detection unit 40 senses the forward object F from the host vehicle 1 has been described above, the present invention is not limited to this.
The forward object detection section 40 may be configured to receive object information regarding the forward object F from outside the own vehicle 1 and supply the received object information to the control section 31. The forward object detection unit 40 having the above configuration performs communication between the vehicle 1 and a wireless network (V2N: Vehicle To Cellular Network), communication between the vehicle 1 and other vehicles (V2V: Vehicle To Vehicle), and communication between the vehicle 1 and pedestrians. It may be configured from various modules that enable communication (V2P: Vehicle To Pedestrian) and communication between the vehicle 1 and roadside infrastructure (V2I: Vehicle To roadside Infrastructure). For example, (i) the forward object detection unit 40 may be connected to a communication module that can directly access a WAN (Wide Area Network), an external device that can access the WAN (such as a mobile router), or an access point of a public wireless LAN (Local Area Network). It may be equipped with a communication module for communication and perform Internet communication, or it may be equipped with a GPS controller that calculates the position of the vehicle 1 based on a GPS (Global Positioning System) signal received from an artificial satellite or the like. . These configurations enable V2N communication. (ii) Further, the forward object detection unit 40 may include a wireless communication module that complies with a predetermined wireless communication standard, and may perform communication using V2V or V2P. (iii) The forward object detection unit 40 also has a communication device that wirelessly communicates with the roadside infrastructure, for example, from a base station of a driving safety support system (DSSS) installed as an infrastructure. Information ahead of the vehicle 1 may be acquired via a roadside wireless device. This enables communication by V2I.

That is, the forward object detection unit 40 may be configured to enable communication between the vehicle 1 and the outside of the vehicle 1 using V2X (Vehicle To Everything). The forward object detection section 40 is configured from a combination of a plurality of devices among the above-mentioned imaging device, sensor group, and various modules that enable communication by V2X, and transmits object information from each of the plurality of devices to a control section. It is also possible to have a configuration in which the power is supplied to 31.

By tilting and arranging the display surface of the display unit 20 (the display surface of an LCD, or the screen when using a DMD or LCOS), the virtual surface on which the virtual image A is displayed is aligned forward with respect to the vertical direction of the vehicle 1. You can also set it at an angle.

The target to which the display light Q is projected is not limited to the windshield 3, but may be a combiner made of a plate-shaped half mirror, a hologram element, or the like. Furthermore, the display device that executes the display control processing described above is not limited to the HUD device 10. The display device may be configured as a head mounted display (HMD) that is mounted on the head of the user 4 of the vehicle 1. In the image displayed by the HMD as a virtual image, the display control of the notification image C may be performed using the same method as described above. In other words, the display device is not limited to one that is mounted on the vehicle 1, but may be one that is used in the vehicle 1.

The HUD device 10, which is an example of the display device described above, displays a superimposed image that is visually recognized by the user 4 as a virtual image A that overlaps with the scenery in front of the vehicle 1. The HUD device 10 includes a control section 31 that functions as an acquisition means, a drawing control means, and a specifying means. The acquisition means acquires object information that is information about a forward object F existing in front of the vehicle 1 and includes at least position information of the forward object F. The drawing control means draws a notification image C for reporting information regarding the forward object F at a corresponding position corresponding to the position information within the display area of the superimposed image, based on the object information acquired by the acquisition means. The specifying means specifies a display delay factor that causes the notification image C drawn based on the object information acquired at a predetermined timing to be displayed with a delay from the predetermined timing. The display delay factor is specified based on at least one of the drawing control load by the drawing control means and the transmission delay of object information.

(1-1) In the HUD device 10 according to the first embodiment, when the value indicated by the identified display delay factor is greater than or equal to a predetermined value, the drawing control means displays a notification image in a size larger than a predetermined reference size. Execute image enlargement processing to draw C.
According to this configuration, as described above, it is possible to prevent the user 4 viewing the notification image C from feeling uncomfortable.

(1-2) Specifically, when executing the image enlargement process, the drawing control means draws the notification image C at a magnification with respect to the reference size determined based on the display delay factor.

(1-3) In addition, when the vehicle 1 and the forward object F approach relatively in a predetermined direction, the drawing control means is configured to draw the edge B of the notification image C when executing the image enlargement process, The notification image C is drawn so as to be enlarged and visually recognized toward the vehicle 1 side, with an end B visible at a position far from the vehicle 1 in a predetermined direction as a reference.
According to this configuration, even if a display shift occurs in which the notification image C shifts from a desired display position due to a display delay, the display shift can be satisfactorily made inconspicuous.

(1-4) Furthermore, when the vehicle 1 and the forward object F are relatively close to each other, and the relative speed V between the vehicle 1 and the forward object F is equal to or higher than a predetermined speed, the drawing control means performs an image enlargement process. When executing, the notification image C is drawn at a magnification with respect to the reference size determined based on the display delay factor and the relative speed V.
According to this configuration, the followability of the notification image C to the forward object F can be ensured.

(1-5) In addition, when the forward object F is an unmoving object relative to the ground, the drawing control means is configured to change the notification image C for reporting information regarding the unmoving object to a predetermined specific type of image (desired display). If the image is acceptable for performing the notification even if it is visually recognized as being shifted in the traveling direction of the vehicle 1 with respect to the position, image enlargement processing is not performed for the specific type of image.
According to this configuration, there is no need to perform image enlargement processing for the specific type of notification image C, so the control burden can be reduced.

(1-6) In addition, when the forward object F is a moving object moving away from the vehicle 1 at a predetermined relative speed or more, the drawing control means also controls the display image C for reporting information regarding the moving object. Do not perform image enlargement processing.
According to this configuration, it is not necessary to perform image enlargement processing on the notification image C that is considered to be of low importance to the user 4, so that the control burden can be reduced.

(1-7) Specifically, the specifying means determines the drawing control load as a display delay factor for the content images that are drawn within the display area of the superimposed image by the drawing control means and that includes the notification image C. Identify based on area, number, and/or dimension.

(2-1) In the HUD device 10 according to the second embodiment, when the value indicated by the identified display delay factor is greater than or equal to a predetermined value, the drawing control means moves the corresponding position (desired display position) to the vehicle 1. Then, an image position adjustment process is executed in which a notification image C that is visually recognized is drawn at an adjustment position that is moved by a predetermined amount of movement in the direction in which the forward object F moves.
According to this configuration, as described above, it is possible to prevent the user 4 viewing the notification image C from feeling uncomfortable.

(2-2) Specifically, when executing the image position adjustment process, the drawing control means determines the amount of movement based on the display delay factor.

(2-3) Furthermore, the drawing control means controls the amount of movement when executing the image position adjustment process according to the relative speed V between the vehicle 1 and the forward object F, and when the relative speed V is the first value. The amount of movement is made larger when the relative velocity V is a second value that is larger than the first value, compared to a certain case.
According to this configuration, the followability of the notification image C to the forward object F can be ensured.

(2-4) Furthermore, when the front object F is in a specific moving state approaching the vehicle 1 from a position more than a specific distance away from the vehicle 1 in an intersecting direction intersecting the traveling direction of the vehicle 1, the drawing control means The amount of movement is corrected so that the amount of movement when executing the image position adjustment process is greater than when the front object F is not in a specific movement state.
According to this configuration, since the notification image C can be displayed closer to the own vehicle 1 side, the presence of the forward object F in a specific moving state, which is assumed to be difficult for the user 4 to grasp the sense of distance, can be effectively notified. I can do it.

(2-5) Specifically, the specifying means determines the drawing control load as a display delay factor for the content images that are drawn within the display area of the superimposed image by the drawing control means and that includes the notification image C. Identify based on area, number, and/or dimension.

(3-1) In the HUD device 10 according to the third embodiment, the notification image C is composed of a linear image, and a specific image that is visually recognized along the direction that intersects the direction in which the vehicle 1 and the forward object F face each other. Contains a linear image Cs. Then, when the value indicated by the identified display delay factor is greater than or equal to a predetermined value, the drawing control means expands the line width of the specific linear image Cs by a predetermined amount in the direction in which the forward object F moves relative to the vehicle 1. A line width enlargement process is executed to draw the notification image C so that it can be enlarged and visually recognized.
According to this configuration, as described above, it is possible to prevent the user 4 viewing the notification image C from feeling uncomfortable.

(3-2) Specifically, when executing line width enlargement processing, the drawing control means determines the amount of enlargement based on display delay factors.

(3-3) Further, the drawing control means controls the amount of expansion when executing the line width expansion process according to the relative speed V between the vehicle 1 and the forward object F, and when the relative speed V is the first value. The amount of expansion is increased when the relative velocity V is a second value larger than the first value, compared to a certain case.
According to this configuration, the followability of the notification image C to the forward object F can be ensured.

(3-4) The drawing control means also controls the drawing control unit so that when the front object F is in a specific movement state, the amount of enlargement when executing the line width enlargement process is larger than when the front object F is not in a specific movement state. Correct the amount of expansion.
According to this configuration, since the notification image C can be displayed closer to the own vehicle 1 side, the presence of the forward object F in a specific moving state, which is assumed to be difficult for the user 4 to grasp the sense of distance, can be effectively notified. I can do it.

(3-5) Specifically, the specifying means determines the drawing control load as a display delay factor for the content images that are drawn within the display area of the superimposed image by the drawing control means and that includes the notification image C. Identify based on area, number, and/or dimension.

In the above description, descriptions of known technical matters have been omitted as appropriate in order to facilitate understanding of the present invention.

100... Vehicle display system 10... HUD device 20... Display section 30... Control device, 31... Control section, 32... Storage section 40... Front object detection section, 50... Viewpoint detection section, 60... ECU, 70... Car navigation device Q ...Display light, A...Virtual image, C...Notification image, F...Forward object Cs...Specific linear image, Cn...Predetermined linear image TA1...Predicted drawing load determination table TA2...Predicted delay time determination table TA3...First magnification Determination table TA4...Second magnification determination table TA5...Movement amount determination table TA6...Enlargement amount determination table 1...Vehicle, 2...Dashboard, 3...Windshield, 4...User, 5...Eye box

Claims (4)

A display device that displays a superimposed image that is visually recognized by a user as a virtual image that overlaps with the scenery in front of a vehicle,
acquisition means for acquiring object information that is information about a forward object existing in front of the vehicle and includes at least position information of the forward object;
Drawing control means for drawing a notification image for reporting information regarding the forward object at a corresponding position corresponding to the position information within the display area of the superimposed image, based on the object information acquired by the acquisition means; ,
identifying means for identifying a display delay factor that causes the notification image drawn based on the object information acquired at a predetermined timing to be displayed with a delay from the predetermined timing;
The notification image is composed of a linear image, and includes a specific linear image that is visually recognized along a direction intersecting a direction in which the vehicle and the object ahead face each other, and the display delay factor is the drawing control means. identified based on at least one of a drawing control load by and a transmission delay of the object information,
When the value indicated by the specified display delay factor is greater than or equal to a predetermined value, the drawing control means expands the line width of the specific linear image by a predetermined amount in a direction in which the forward object moves relative to the vehicle. A line width enlargement process is executed to draw the notification image so that it is enlarged and visually recognized, and the forward object approaches the vehicle from a position at least a specific distance away from the vehicle in a cross direction that intersects the traveling direction of the vehicle. A display device that corrects the amount of enlargement so that the amount of enlargement when performing the line width enlargement process is larger when the object in front is in a specific moving state where the object is approaching than when the object is not in the specific moving state. . A display device that displays a superimposed image that is visually recognized by a user as a virtual image that overlaps with the scenery in front of a vehicle,
acquisition means for acquiring object information that is information about a forward object existing in front of the vehicle and includes at least position information of the forward object;
Drawing control means for drawing a notification image for reporting information regarding the forward object at a corresponding position corresponding to the position information within the display area of the superimposed image, based on the object information acquired by the acquisition means; ,
identifying means for identifying a display delay factor that causes the notification image drawn based on the object information acquired at a predetermined timing to be displayed with a delay from the predetermined timing;
The notification image is composed of a linear image, and includes a specific linear image that is visually recognized along a direction intersecting a direction in which the vehicle and the object ahead face each other, and the display delay factor is the drawing control means. identified based on at least one of a drawing control load by and a transmission delay of the object information,
When the value indicated by the specified display delay factor is greater than or equal to a predetermined value, the drawing control means expands the line width of the specific linear image by a predetermined amount in a direction in which the forward object moves relative to the vehicle. Executing line width enlargement processing to draw the notification image so that it is enlarged and visually recognized;
The specifying means determines the drawing control load as the display delay factor by determining the area, number, and dimension of the content image, which is an image drawn in the display area by the drawing control means and includes the notification image. A display device identified based on at least one of the following. 3. The display device according to claim 1 , wherein the drawing control means determines the enlargement amount based on the display delay factor when executing the line width enlargement process. The drawing control means controls the enlargement amount when executing the line width enlargement process according to the relative speed between the vehicle and the object ahead;
4. The expansion amount when the relative speed is a second value larger than the first value is made larger than when the relative speed is a first value. Display device.

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