WO2013046425A1 - Head-up display, control method, and display device - Google Patents

Head-up display, control method, and display device Download PDF

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Publication number
WO2013046425A1
WO2013046425A1 PCT/JP2011/072541 JP2011072541W WO2013046425A1 WO 2013046425 A1 WO2013046425 A1 WO 2013046425A1 JP 2011072541 W JP2011072541 W JP 2011072541W WO 2013046425 A1 WO2013046425 A1 WO 2013046425A1
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WO
WIPO (PCT)
Prior art keywords
display
moving body
head
guidance
image
Prior art date
Application number
PCT/JP2011/072541
Other languages
French (fr)
Japanese (ja)
Inventor
祐一 松本
宮坂 峰輝
Original Assignee
パイオニア株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by パイオニア株式会社 filed Critical パイオニア株式会社
Priority to PCT/JP2011/072541 priority Critical patent/WO2013046425A1/en
Publication of WO2013046425A1 publication Critical patent/WO2013046425A1/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00Arrangement of adaptations of instruments
    • B60K35/22
    • B60K35/23
    • B60K35/28
    • B60K35/53
    • B60K35/60
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/36Input/output arrangements for on-board computers
    • G01C21/3626Details of the output of route guidance instructions
    • G01C21/3635Guidance using 3D or perspective road maps
    • G01C21/3638Guidance using 3D or perspective road maps including 3D objects and buildings
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/36Input/output arrangements for on-board computers
    • G01C21/3626Details of the output of route guidance instructions
    • G01C21/365Guidance using head up displays or projectors, e.g. virtual vehicles or arrows projected on the windscreen or on the road itself
    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01Head-up displays
    • B60K2360/166
    • B60K2360/334
    • B60K2360/771
    • B60K2360/785
    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01Head-up displays
    • G02B27/0101Head-up displays characterised by optical features
    • G02B2027/0138Head-up displays characterised by optical features comprising image capture systems, e.g. camera
    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01Head-up displays
    • G02B27/0101Head-up displays characterised by optical features
    • G02B2027/014Head-up displays characterised by optical features comprising information/image processing systems

Definitions

  • the present invention relates to a technique for displaying information.
  • Patent Literature 1 discloses a head-up display that uses a windshield to display a bird's-eye view (overhead view) or a map image obtained by inverting the bird's-eye view above and below the driver's line-of-sight height.
  • Patent Document 2 displays a search screen in which the display scale is a concentric circle with the current position as a base point, calculates a display position based on the current position of a search target such as a destination, and sets the display position as the display position.
  • a technique for displaying a search mark indicating a search object is disclosed.
  • Patent Document 3 when a mobile terminal equipped with a GPS receiver is called through a telephone line and the mobile terminal receives an incoming call, the location of the mobile terminal is displayed on the screen together with map data. Techniques for making them disclosed are disclosed.
  • Patent Document 4 discloses a technique for displaying navigation information superimposed on a landscape image in front of a vehicle.
  • driving directions and facility information are displayed for the roads and facilities existing in the field of view ahead of the vehicle to assist driving.
  • the present invention has been made to solve the above-described problems, and provides a head-up display, a display device, and a control method capable of suitably displaying a direction of an object in an arbitrary direction and place.
  • the main purpose is to provide.
  • the head-up display includes a position acquisition unit that acquires the position of the moving body, and the moving body that is a guidance target that exists in an arbitrary direction of 360 degrees when the moving body is used as a base point.
  • Direction obtaining means for obtaining a direction with respect to the display, display means for displaying a virtual image superimposed on a landscape in front of the moving body, and the guidance with respect to the current position of the moving body on the basis of the traveling direction of the moving body
  • Display control means for causing the display means to display direction information indicating the direction in which the target exists.
  • the control means of the head-up display includes display means for displaying a virtual image superimposed on the scenery in front of the moving body and control means for controlling display by the display means.
  • the display device is configured to obtain a position acquisition unit that acquires the position of the moving body, and the guidance target moving body that exists in an arbitrary direction of 360 degrees when the moving body is used as a base point.
  • Direction guidance means for obtaining a direction
  • display means for displaying a virtual image superimposed on a landscape in front of the moving body, and the guidance target with respect to the current position of the moving body on the basis of the traveling direction of the moving body
  • Display control means for causing the display means to display direction information indicating the direction in which the light is present.
  • composition of a system concerning an example. It is a schematic structure of a navigation apparatus. It is a schematic structure of a head-up display. The display of the front window visually recognized by the driver is shown. The example of the plane map display by a head-up display is shown. The example of the non-visual information display by a head-up display is shown. It is another example of composition of a head up display. It is a display example of the head-up display which concerns on a modification.
  • the head-up display includes a position acquisition unit that acquires a position of a moving body, and the guidance target that exists in an arbitrary direction of 360 degrees when the moving body is a base point.
  • Direction acquisition means for acquiring a direction with respect to the moving body, display means for displaying a virtual image superimposed on a landscape in front of the moving body, and the current position of the moving body with respect to the traveling direction of the moving body
  • Display control means for causing the display means to display direction information indicating the direction in which the guidance target exists.
  • the head-up display includes position acquisition means, direction acquisition means, display means, and display control means.
  • the position acquisition unit acquires the position of the moving body.
  • the direction acquisition means acquires a direction with respect to the moving object to be guided that exists in an arbitrary direction of 360 degrees when the moving object is the base point.
  • the display means is a laser projector, for example, and displays a virtual image superimposed on the scenery in front of the moving body.
  • the display control means causes the display means to display direction information indicating the direction in which the guidance target exists with respect to the current position of the moving body with reference to the traveling direction of the moving body.
  • the head-up display allows the observer to visually recognize the direction of the guidance target existing in an arbitrary direction including the rear, in addition to the forward scenery visually recognized during driving.
  • the guidance target is present at a position not included in the landscape.
  • the head-up display can visually recognize the direction of an object such as a destination that the observer cannot directly visually recognize.
  • the guidance object includes an object that exists behind the moving direction of the moving body. Also according to this aspect, the head-up display can visually recognize the direction of an object that cannot be directly visually recognized by the observer.
  • the display control means represents a first image indicating a direction with respect to the moving body when the current position of the moving body is a center, the guidance object, and the guidance object And the second image superimposed on the position on the first image corresponding to the direction in which the image exists is displayed on the display unit as the direction information.
  • the display control means displays the direction with the moving body as the base point by the first image and the direction of the predetermined target by the second image.
  • the head-up display further includes a traveling direction acquisition unit that acquires a traveling direction of the moving body, and the display control unit displays a position corresponding to the traveling direction of the moving body on the first image. , And fixed in the area displayed by the display means.
  • the head-up display allows the observer to grasp the relative positional relationship between the moving body and the guidance target in addition to the direction in which the guidance target exists.
  • the first image is formed in a ring shape, and a display indicating the predetermined direction is attached to a position corresponding to the predetermined direction of the first image.
  • the head-up display can make an observer grasp the direction where a predetermined object exists suitably.
  • the first image rotates based on a current position and a traveling direction of the moving body.
  • control means of the head-up display comprising: display means for displaying a virtual image superimposed on a landscape in front of the moving body; and control means for controlling display by the display means.
  • a control method to be executed a position acquisition step for acquiring a position of a moving body, and a direction for acquiring a direction with respect to the moving body of a guidance target existing in an arbitrary direction of 360 degrees when the moving body is a base point
  • An acquisition step and a display control step for displaying on the display means direction information indicating a direction in which the guidance target exists with respect to a current position of the moving body with reference to a traveling direction of the moving body.
  • the display device includes a position acquisition unit that acquires the position of the moving body, and the guidance target that exists in an arbitrary direction of 360 degrees when the moving body is a base point.
  • Direction acquisition means for acquiring a direction with respect to the moving body, display means for displaying a virtual image superimposed on a landscape in front of the moving body, and the current position of the moving body with respect to the traveling direction of the moving body
  • Display control means for causing the display means to display direction information indicating the direction in which the guidance target exists.
  • the display device allows the observer to visually recognize the direction of the guidance target existing in an arbitrary direction including the rear, in addition to the forward scenery visually recognized during driving.
  • FIG. 1 shows a configuration example of a system according to the present embodiment.
  • the system includes a navigation device 1 and a head-up display 2.
  • the system is mounted on a vehicle.
  • the navigation device 1 has a function of performing route guidance from the departure point to the destination.
  • the navigation device 1 can be, for example, a stationary navigation device installed in a vehicle, a PND (Portable Navigation Device), or a mobile phone such as a smartphone.
  • PND Portable Navigation Device
  • mobile phone such as a smartphone.
  • the head-up display 2 generates an image that displays map information including the current position, route guidance information, travel speed, and other information that assists driving, and the image is converted into a virtual image from the position (eye point) of the driver's eyes. It is a device for visual recognition.
  • the head-up display 2 is supplied from the navigation device 1 with various information used for navigation processing such as vehicle position and orientation information, map information, and facility data.
  • the navigation device 1 may be held by a cradle or the like. In this case, the navigation device 1 may exchange information with the head-up display 2 via a cradle or the like.
  • FIG. 2 shows the configuration of the navigation device 1.
  • the navigation device 1 includes a self-supporting positioning device 10, a GPS receiver 18, a system controller 20, a disk drive 31, a data storage unit 36, a communication interface 37, a communication device 38, an interface 39, and a display unit 40.
  • the self-supporting positioning device 10 includes an acceleration sensor 11, an angular velocity sensor 12, and a distance sensor 13.
  • the acceleration sensor 11 is made of, for example, a piezoelectric element, detects vehicle acceleration, and outputs acceleration data.
  • the angular velocity sensor 12 is composed of, for example, a vibrating gyroscope, detects the angular velocity of the vehicle when the direction of the vehicle is changed, and outputs angular velocity data and relative azimuth data.
  • the distance sensor 13 measures a vehicle speed pulse composed of a pulse signal generated with the rotation of the vehicle wheel.
  • the GPS receiver 18 receives radio waves 19 carrying downlink data including positioning data from a plurality of GPS satellites.
  • the positioning data is used to detect the absolute position of the vehicle (hereinafter also referred to as “current position”) from latitude and longitude information.
  • the system controller 20 includes an interface 21, a CPU (Central Processing Unit) 22, a ROM (Read Only Memory) 23, and a RAM (Random Access Memory) 24, and controls the entire navigation device 1.
  • a CPU Central Processing Unit
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the interface 21 performs an interface operation with the acceleration sensor 11, the angular velocity sensor 12, the distance sensor 13, and the GPS receiver 18. From these, vehicle speed pulses, acceleration data, relative azimuth data, angular velocity data, GPS positioning data, absolute azimuth data, and the like are input to the system controller 20.
  • the CPU 22 controls the entire system controller 20.
  • the ROM 23 includes a nonvolatile memory (not shown) in which a control program for controlling the system controller 20 is stored.
  • the RAM 24 stores various data such as route data preset by the user via the input device 60 so as to be readable, and provides a working area to the CPU 22.
  • a system controller 20 a disk drive 31 such as a CD-ROM drive or a DVD-ROM drive, a data storage unit 36, a communication interface 37, a display unit 40, an audio output unit 50 and an input device 60 are mutually connected via a bus line 30. It is connected to the.
  • the disk drive 31 reads and outputs content data such as music data and video data from a disk 33 such as a CD or DVD under the control of the system controller 20.
  • the disk drive 31 may be either a CD-ROM drive or a DVD-ROM drive, or may be a CD and DVD compatible drive.
  • the data storage unit 36 is configured by, for example, an HDD and stores various data used for navigation processing such as map data.
  • the communication device 38 includes, for example, an FM tuner, a beacon receiver, a mobile phone, a dedicated communication card, and the like, and information distributed from a VICS (Vehicle Information Communication System) center or the like (hereinafter referred to as “VICS information”). Is acquired from the radio wave 39.
  • the interface 37 performs an interface operation of the communication device 38 and inputs the VICS information to the system controller 20 or the like. Further, the communication device 38 transmits information on the current position acquired from the GPS receiver 18 to the head-up display 2.
  • the display unit 40 displays various display data on a display device such as a display under the control of the system controller 20.
  • the system controller 20 reads map data from the data storage unit 36.
  • the display unit 40 displays the map data read from the data storage unit 36 by the system controller 20 on the display screen.
  • the display unit 40 includes a graphic controller 41 that controls the entire display unit 40 based on control data sent from the CPU 22 via the bus line 30 and a memory such as a VRAM (Video RAM), and can display image information that can be displayed immediately.
  • a buffer memory 42 that temporarily stores, a display control unit 43 that controls display of a display 44 such as a liquid crystal or a CRT (Cathode Ray Tube) based on image data output from the graphic controller 41, and a display 44 are provided.
  • the display 44 functions as an image display unit, and includes, for example, a liquid crystal display device having a diagonal size of about 5 to 10 inches and is mounted near the front panel in the vehicle.
  • the audio output unit 50 performs D / A (Digital to Analog) conversion of audio digital data sent from the CD-ROM drive 31, DVD-ROM 32, RAM 24, or the like via the bus line 30 under the control of the system controller 20.
  • a D / A converter 51 to perform an amplifier (AMP) 52 that amplifies the audio analog signal output from the D / A converter 51, and a speaker 53 that converts the amplified audio analog signal into sound and outputs the sound into the vehicle. It is prepared for.
  • AMP amplifier
  • the input device 60 includes keys, switches, buttons, a remote controller, a voice input device, and the like for inputting various commands and data.
  • the input device 60 is disposed around the front panel and the display 44 of the main body of the in-vehicle electronic system mounted in the vehicle.
  • the display 44 is a touch panel system
  • the touch panel provided on the display screen of the display 44 also functions as the input device 60.
  • FIG. 3 is a schematic configuration diagram of the head-up display 2.
  • the head-up display 2 includes a light source unit 3 and is attached to a vehicle including a front window 25, a ceiling portion 27, a bonnet 28, a dashboard 29, and the like.
  • the light source unit 3 is installed on the ceiling portion 27 in the passenger compartment via the support members 5a and 5b, and transmits light constituting an image indicating information for assisting driving (also referred to as “driving assist information”) to the combiner 9. Exit toward. Specifically, the light source unit 3 generates an original image (real image) of the display image in the light source unit 3 based on the control of the control unit 4, and emits light constituting the image to the combiner 9. The virtual image “Iv” is visually recognized by the driver via the combiner 9.
  • the light source unit 3 is an example of the “display unit” in the present invention.
  • the combiner 9 projects the display image emitted from the light source unit 3 and reflects the display image to the driver's eye point Pe to display the display image as a virtual image Iv. And the combiner 9 has the support shaft part 8 installed in the ceiling part 27, and rotates the support shaft part 8 as a spindle.
  • the support shaft portion 8 is installed, for example, in the vicinity of the ceiling portion 27 in the vicinity of the upper end of the front window 25, in other words, the position where a sun visor (not shown) for the driver is installed.
  • the support shaft portion 8 may be installed instead of the above-described sun visor.
  • the control unit 4 includes a CPU, RAM, ROM, and the like (not shown), and performs general control of the head-up display 2.
  • the control unit 4 can communicate with the navigation device 1 and receives various types of information used for navigation processing from the navigation device 1.
  • the control unit 4 is an example of the “position acquisition unit”, “direction acquisition unit”, “display control unit”, and “travel direction acquisition unit” in the present invention.
  • FIG. 4 shows a display example of the front window 25 visually recognized by the driver.
  • the position of the combiner 9 is indicated by a broken line.
  • a guidance route to the destination is already set, and the head-up display 2 displays a route guidance indicating that the vehicle turns left at the intersection 47 where the traffic light 46 is installed. To do.
  • the control unit 4 causes the driver to visually recognize the virtual image Iv via the combiner 9 while superimposing it on the scenery visually recognized via the front window 25. Specifically, in FIG. 4, the control unit 4 displays guidance display icons 70A to 70C, arrows 71A to 71C, guidance point information display 72, guidance route 73, virtual signal 74, and direction information display in a range overlapping with the combiner 9.
  • the ring 75 and the concentric circle 76 are displayed as virtual images Iv, respectively.
  • Guidance display icons 70A to 70C display information related to the facility and the point for a predetermined facility and the point visually recognized through the front window 25. Specifically, the control unit 4 determines that the building 45A is visually recognized through the windshield 25 based on the current position, the vehicle orientation, and the map information transmitted from the navigation device 1, and the guidance display icon 70A. Displays the facility name “facility A” of the building 45A, and the arrow 71A indicates that the guidance display icon 70A is facility information of the building 45A. Similarly, the control unit 4 determines that the parking lot 45B is visually recognized through the windshield 25, and displays a guidance display icon 70B that displays a mark “P” indicating that the parking lot 45B is a parking lot.
  • control unit 4 determines that an automatic speed control device (Obis) is installed on the road 45C to be next left-turned, and a guidance display that displays a camera mark for the road to be left-turned next.
  • Icon 70C is displayed along with arrow 71C.
  • the guidance point information display 72 displays information on the guidance point (here, the intersection 47) where the next turn is performed. Specifically, the control unit 4 calculates the distance from the current position to the intersection 47 based on the current position information and the map information transmitted from the navigation device 1, specifies the name of the intersection 47, and determines “200 m “XX intersection” is displayed. In addition, the guide point information display 72 displays an arrow mark 720 indicating a direction to be turned at the intersection 47 (here, the left direction).
  • the guidance route 73 is a route along which the vehicle should travel (also referred to as “guidance route”), and is displayed as an overhead view that is vertically inverted. In other words, the guide route 73 is displayed in a state of being projected obliquely downward with respect to the ground surface. Therefore, in the guidance route 73, the traveling direction coincides with the lower direction of the windshield 25. In addition, the guide route 73 virtually displays a guide route in a range that is actually visible to the driver through the front window 25. A virtual signal 74 that virtually displays the traffic light 46 is shown at the left turn point of the guide route 73. As described above, when there is a traffic light in the guidance route indicated by the guidance route 73, the control unit 4 displays the virtual signal 74 superimposed on the guidance route 73.
  • the direction information display ring 75 displays the direction when observed from the same viewpoint as the guide route 73 with the center as the current position.
  • the left end position 751L of the direction information display ring 75 corresponds to the left side direction of the vehicle
  • the right end position 751R of the direction information display ring 75 corresponds to the right side direction of the vehicle
  • the lower end of the direction information display ring 75 corresponds to the traveling direction of the vehicle
  • the upper end position 751B of the direction information display ring 75 corresponds to the backward traveling direction of the vehicle.
  • the control unit 4 fixes the position corresponding to the traveling direction of the vehicle on the direction information display ring 75 to the lower end position 751F.
  • the control unit 4 fixes the position corresponding to the traveling direction of the vehicle on the direction information display ring 75 in the display area of the virtual image Iv.
  • the position of “N” in the direction information display ring 75 indicates the north direction with the current position as a base point.
  • the display of “N” in the direction information display ring 75 is an example of “display indicating a predetermined direction” in the present invention.
  • the direction information display ring 75 rotates according to the direction of the vehicle, so that it always displays an accurate direction with respect to the current position.
  • a destination icon 752 that moves on the direction information display ring 75 in accordance with the direction where the destination exists is displayed.
  • the destination icon 752 moves on the direction information display ring 75 according to changes in the position and orientation of the vehicle.
  • the destination icon 752 indicates that the destination exists in the west direction from the current position.
  • the direction information display ring 75 indicates the relative direction between the vehicle and the destination in association with displaying the direction of the destination with respect to the current position.
  • the destination icon 752 indicates that the destination exists in a diagonally left direction with respect to the traveling direction of the vehicle.
  • the direction information display ring 75 and the destination icon 752 are examples of “direction information” in the present invention
  • the direction information display ring 75 is an example of “first image” in the present invention. Is an example of a “second image” in the present invention.
  • the concentric circle 76 indicates a distance interval from the guide point of the guide route 73 on the display of the guide route 73.
  • the concentric circles 76 are concentric circles connecting positions that are equidistant from the guide point of the guide route 73, that is, the intersection 47.
  • the concentric circle 76 includes a first concentric circle 761, a second concentric circle 762, and a third concentric circle 763 drawn at equal intervals from the guide point. For example, when the concentric circle 76 is drawn every “50 m”, the first concentric circle 761 indicates the position “50 m” from the intersection 47, the second concentric circle 762 indicates the position “100 m” from the intersection 47, and the third concentric circle 763. Indicates a position “150 m” from the intersection 47.
  • the head-up display 2 operates in addition to information display (also referred to as “in-view information display”) regarding an object such as a facility or road in the driver's view. Display information on an object outside the user's field of view (also referred to as “out-of-field information display”). Thereby, the head-up display 2 can make an observer recognize not only the information of the building etc. which exists in an observer's visual field but the direction of the object in the distance.
  • in-view information display includes guide display icons 70A to 70C, arrows 71A to 71C, guide point information display 72, guide route 73, virtual signal 74, concentric circle 76, and the like. Corresponds to the direction information display ring 75.
  • the control unit 4 performs display including a map displayed on a plane (also referred to as “planar map display”) as information display by the virtual image Iv based on a user operation. This will be described with reference to FIG.
  • the control part 4 switches these displays, when the input to predetermined input means, such as a remote controller (not shown) for operating the head-up display 2, for example, is detected.
  • FIG. 5 shows a display example of the front window 25 visually recognized by the driver when the head-up display 2 performs a planar map display.
  • the control unit 4 displays a guidance point information display 72, a planar map 81, a current position display 82, and a guidance route 83 as a virtual image Iv.
  • the planar map 81 is a map in which an area including the current position is planarly displayed at a predetermined scale.
  • the scale of the planar map 81 is changed by a predetermined input to the head-up display 2 by an input unit (not shown).
  • the current position display 82 indicates the current position of the vehicle on the planar map 81.
  • a guide route 83 indicates a guide route that the vehicle should travel in the planar map 81.
  • the head-up display 2 can also display only out-of-view information display based on user input.
  • a display example in this case will be described.
  • FIG. 6 shows an example of non-visual information display by the head-up display 2.
  • the control unit 4 displays a direction information display ring 75 and displays a landmark icon 752 ⁇ / b> A indicating a position where a famous radio tower exists on the direction information display ring 75.
  • the landmark icon 752A indicates that a well-known radio tower is in the east direction, and exists in the diagonally right rear direction with respect to the traveling direction of the vehicle.
  • the landmark icon 52A moves on the direction information display ring 75 in accordance with changes in the position of the vehicle and the traveling direction.
  • control unit 4 uses the direction information display ring 75 to make a relative direction with respect to the direction of an arbitrary target in the range of 360 degrees with respect to the traveling direction including the rear as well as the front of the own vehicle. Various directions can be displayed.
  • control unit 4 replaces or in addition to the destination icon 752 and the landmark icon 752A shown in FIG. Icons indicating the positions of various objects such as may be displayed on the direction information display ring 75. Specifically, the control unit 4 displays, on the direction information display ring 75, for example, an icon representing a guidance target designated based on a user input.
  • an icon indicating the position of a friend who has a mobile terminal equipped with a GPS receiver is displayed on the direction information display ring 75.
  • the navigation device 1 has a call function and a call is received from a friend's portable terminal equipped with a GPS receiver
  • the navigation device 1 receives the GPS receiver from the portable terminal described above.
  • the position information acquired by the above is received by communication, and the position information and the information on the position and direction of the own vehicle are transferred to the control unit 4.
  • the control part 4 displays the icon which shows the friend of the portable terminal device which received the call in the position on the direction information display ring 75 specified based on the received information.
  • control unit 4 can suitably display the direction of the guidance target that is outside the driver's vision and serves as a driving landmark and the direction with respect to the host vehicle by the direction information display ring 75.
  • the head-up display 2 allows the driver to visually recognize the virtual image Iv via the combiner 9, but the configuration of the head-up display 2 to which the present invention can be applied is not limited to this.
  • FIG. 8 shows a schematic configuration of a head-up display 2A according to a modification.
  • the light source unit 3 emits light constituting the display image toward the windshield 25.
  • the front window 25 projects the display image emitted from the light source unit 3 and reflects the display image to the eye point Pe to display the display image as a virtual image Iv.
  • the position of the light source unit 3 is not limited to being installed on the ceiling portion 27 but may be installed inside the dashboard 29.
  • the dashboard 29 is provided with an opening for allowing light to pass through the combiner 9 in FIG. 3 or the front window 25 in FIG.
  • the head-up display 2 generates an image indicating driving assistance information after receiving map information or the like from the navigation device 1.
  • the configuration to which the present invention can be applied is not limited to this.
  • the navigation device 1 generates an image indicating driving assistance information, transmits the image to the head-up display 2, and the head-up display. 2 may emit light constituting the received image. That is, in this case, the system controller 20 of the navigation device 1 performs part or all of the processing performed by the control unit 4 of the head-up display 2. Also by this, the head-up display 2 can make a driver
  • the navigation device 1 and the head-up display 2 are examples of the “head-up display” or “display device” in the present invention.
  • the head-up display 2 may display driving assistance information without communicating with the navigation device 1.
  • the light source unit 3 of the head-up display 2 includes a self-supporting positioning device such as a GPS receiver and a distance sensor, and measures the position and direction of the vehicle.
  • the light source unit 3 stores map information including facility information in a memory in advance. Then, the light source unit 3 refers to map information and the like based on the measured vehicle position and the like, and emits light constituting an image indicating driving assistance information.
  • the head-up display 2 may display the direction information display ring 75 as a virtual image Iv together with the planar map display shown in FIG.
  • the direction information display ring 75 is preferably formed so that the widths of the left end position 751L and the right end position 751R are equal to the widths of the upper end position 751B and the lower end position 751F, and the lower end position 751F.
  • the upper end position 751B corresponds to the traveling direction of the vehicle.
  • the navigation device 1 may display the above-described embodiment.
  • the navigation device 1 acquires an image showing a landscape in the forward direction of the vehicle from an imaging unit such as a camera that captures the forward direction of the vehicle, and superimposes the image on the image to display guidance display icons 70A to 70C and direction information.
  • the contents of the virtual image Iv such as the ring 75 are displayed.
  • the navigation device 1 is an example of the “display device” in the present invention.
  • the head-up display 2 further adds an arrow indicating the traveling direction to a position corresponding to the guide point of the guide route 73, or corresponds to each of the concentric circles 76. An indication of the distance from the guide point indicated by the concentric circle 76 may be added.
  • FIGS. 8A to 8C show transition of information display by the virtual image Iv in a time series viewed through the combiner 9 in the modified example.
  • FIG. 8 (a) shows information display by a virtual image Iv when the vehicle is near 100m to 75m from the guidance point
  • FIG. 8 (b) shows that the vehicle is near 75m to 50m from the guidance point
  • FIG. 8C shows information display using the virtual image Iv when the vehicle is in the vicinity of 50 m to 25 m from the guide point.
  • the control unit 4 has an arrow 77 indicating a traveling direction (left direction in this case) at a position corresponding to the guide point of the guide route 73 and a concentric circle.
  • a distance display 78 displaying the distance from the guide point indicated by 76 is displayed as a virtual image Iv.
  • the first concentric circle 761 indicates a position 25 m from the guidance point
  • the second concentric circle 762 indicates a position 50 m from the guidance point
  • the third concentric circle 763 indicates a position 75 m from the guidance point.
  • the control part 4 changes the magnitude
  • the control unit 4 sequentially displays the distance display 78 for the concentric circle 76 indicating the position closest to the current position. Specifically, as shown in FIG. 8A, when the vehicle is traveling from 75 m to 100 m from the guide point, the third concentric circle 763 corresponds to the outermost concentric circle 76. Therefore, the control unit 4 attaches a distance display 78 to the third concentric circle 763 to the effect that the third concentric circle 763 is a 75 m point from the guide point. Also, as shown in FIG. 8B, when the vehicle is traveling from 50 m to 100 m from the guide point, the third concentric circle 763 indicating a point farther from the guide point than the current position is not displayed.
  • the second concentric circle 762 among the concentric circles 76 is the outermost concentric circle 76. Therefore, in this case, the control unit 4 attaches a distance display 78 to the second concentric circle 762 to the effect that the second concentric circle 762 is 50 m from the guide point. Similarly, when the vehicle is traveling from 25 m to 50 m from the guide point as shown in FIG. 8C, the third concentric circle 763 and the second concentric circle 762 indicating points far from the guide point than the current position are Of the displayed concentric circles 76, the first concentric circle 761 is the outermost concentric circle 76.
  • the control unit 4 attaches a distance display 78 to the first concentric circle 761 to the effect that the first concentric circle 761 is 25 m from the guide point.
  • the control part 4 makes a driver
  • the present invention can be suitably applied to a head-up display that allows a driver to visually recognize route guidance and vehicle information.

Abstract

A head-up display is provided with a position acquisition means, a direction acquisition means, a display means, and a display control means. The position acquisition means acquires the position of a mobile object. The direction acquisition means acquires the direction with respect to the mobile object of a guidance object present in any direction within 360 degrees when the mobile object is defined as a basic point. The display means displays a virtual image while superimposing the virtual image on a landscape ahead of the mobile object. The display control means causes the display means to display direction information indicating the direction in which the guidance object is present with respect to the current position of the mobile object using the traveling direction of the mobile object as a reference.

Description

ヘッドアップディスプレイ、制御方法、及び表示装置Head-up display, control method, and display device
 本発明は、情報を表示する技術に関する。 The present invention relates to a technique for displaying information.
 従来から、車両の運転に関する情報の表示画像を運転者の目の位置から虚像として視認させる技術が存在する。例えば、特許文献1には、フロントガラスを利用して、運転者の視線高さよりも上方に、鳥瞰図(俯瞰図)又は鳥瞰図を上下に反転させた地図画像を表示するヘッドアップディスプレイが開示されている。また、特許文献2には、現在位置を基点として表示スケールが同心円となされた探索画面を表示し、目的地などの探索対象物の現在位置を基点とした表示位置を算出し、その表示位置に、探索対象物を示す探索マークを表示する技術が開示されている。さらに、特許文献3には、GPS受信機を備えた携帯端末機を電話回線により呼び出し、その携帯端末機に着信があった場合に、当該携帯端末機の存在位置を地図データと共に画面上に表示させる技術が開示されている。また、特許文献4には、車両前方の風景画像にナビゲーション情報を重畳表示させる技術が開示されている。 Conventionally, there is a technique for visually displaying a display image of information related to driving of a vehicle as a virtual image from the position of the driver's eyes. For example, Patent Literature 1 discloses a head-up display that uses a windshield to display a bird's-eye view (overhead view) or a map image obtained by inverting the bird's-eye view above and below the driver's line-of-sight height. Yes. Patent Document 2 displays a search screen in which the display scale is a concentric circle with the current position as a base point, calculates a display position based on the current position of a search target such as a destination, and sets the display position as the display position. A technique for displaying a search mark indicating a search object is disclosed. Furthermore, in Patent Document 3, when a mobile terminal equipped with a GPS receiver is called through a telephone line and the mobile terminal receives an incoming call, the location of the mobile terminal is displayed on the screen together with map data. Techniques for making them disclosed are disclosed. Patent Document 4 discloses a technique for displaying navigation information superimposed on a landscape image in front of a vehicle.
特開平09-229707号公報JP 09-229707 A 特開2009-111856号公報JP 2009-111856 A 特開平09-194878号公報Japanese Patent Laid-Open No. 09-194878 特開2008-202987号公報JP 2008-202987 A
 従来のヘッドアップディスプレイでは、車両前方の視界に存在する道路や施設を対象に、進むべき方向や施設情報などを表示し、運転を補助していた。一方、目的地、所定のランドマーク、又は友人の車両の位置などの車両前方の視界にはない対象物の方角についても、運転者が把握できると便宜な場合がある。 In the conventional head-up display, driving directions and facility information are displayed for the roads and facilities existing in the field of view ahead of the vehicle to assist driving. On the other hand, it may be convenient for the driver to understand the direction of an object that is not in the field of view ahead of the vehicle, such as the destination, a predetermined landmark, or the position of a friend's vehicle.
 本発明は、上記のような課題を解決するためになされたものであり、任意の方向及び場所にある対象の方角を好適に表示することが可能なヘッドアップディスプレイ、表示装置、及び制御方法を提供することを主な目的とする。 The present invention has been made to solve the above-described problems, and provides a head-up display, a display device, and a control method capable of suitably displaying a direction of an object in an arbitrary direction and place. The main purpose is to provide.
 請求項1に記載の発明では、ヘッドアップディスプレイは、移動体の位置を取得する位置取得手段と、前記移動体を基点とした場合に360度の任意の方向に存在する案内対象の前記移動体に対する方角を取得する方角取得手段と、前記移動体の前方の風景に重畳させて虚像を表示させる表示手段と、前記移動体の進行方向を基準として、前記移動体の現在位置に対して前記案内対象の存在する方角を示す方角情報を前記表示手段に表示させる表示制御手段と、を有することを特徴とする。 In the first aspect of the invention, the head-up display includes a position acquisition unit that acquires the position of the moving body, and the moving body that is a guidance target that exists in an arbitrary direction of 360 degrees when the moving body is used as a base point. Direction obtaining means for obtaining a direction with respect to the display, display means for displaying a virtual image superimposed on a landscape in front of the moving body, and the guidance with respect to the current position of the moving body on the basis of the traveling direction of the moving body Display control means for causing the display means to display direction information indicating the direction in which the target exists.
 請求項8に記載の発明では、前記移動体の前方の風景に重畳させて虚像を表示させる表示手段と前記表示手段による表示を制御する制御手段とを備えるヘッドアップディスプレイの前記制御手段が実行する制御方法であって、移動体の位置を取得する位置取得工程と、前記移動体を基点とした場合に360度の任意の方向に存在する案内対象の前記移動体に対する方角を取得する方角取得工程と、前記移動体の進行方向を基準として、前記移動体の現在位置に対して前記案内対象の存在する方角を示す方角情報を前記表示手段に表示させる表示制御工程と、を有することを特徴とする。 According to an eighth aspect of the invention, the control means of the head-up display includes display means for displaying a virtual image superimposed on the scenery in front of the moving body and control means for controlling display by the display means. A position acquisition step for acquiring the position of a moving body, and a direction acquisition step for acquiring a direction with respect to the moving body of a guidance target existing in an arbitrary direction of 360 degrees when the moving body is a base point. And a display control step of causing the display means to display direction information indicating the direction in which the guidance target exists with respect to the current position of the moving body with reference to the traveling direction of the moving body. To do.
 請求項9に記載の発明では、表示装置は、移動体の位置を取得する位置取得手段と、前記移動体を基点とした場合に360度の任意の方向に存在する案内対象の前記移動体に対する方角を取得する方角取得手段と、前記移動体の前方の風景に重畳させて虚像を表示させる表示手段と、前記移動体の進行方向を基準として、前記移動体の現在位置に対して前記案内対象の存在する方角を示す方角情報を前記表示手段に表示させる表示制御手段と、を有することを特徴とする。 In the invention according to claim 9, the display device is configured to obtain a position acquisition unit that acquires the position of the moving body, and the guidance target moving body that exists in an arbitrary direction of 360 degrees when the moving body is used as a base point. Direction guidance means for obtaining a direction, display means for displaying a virtual image superimposed on a landscape in front of the moving body, and the guidance target with respect to the current position of the moving body on the basis of the traveling direction of the moving body Display control means for causing the display means to display direction information indicating the direction in which the light is present.
実施例に係るシステムの構成例である。It is an example of composition of a system concerning an example. ナビゲーション装置の概略構成である。It is a schematic structure of a navigation apparatus. ヘッドアップディスプレイの概略構成である。It is a schematic structure of a head-up display. 運転者が視認するフロントウィンドウの表示を示す。The display of the front window visually recognized by the driver is shown. ヘッドアップディスプレイによる平面地図表示の例を示す。The example of the plane map display by a head-up display is shown. ヘッドアップディスプレイによる視覚外情報表示の例を示す。The example of the non-visual information display by a head-up display is shown. ヘッドアップディスプレイの他の構成例である。It is another example of composition of a head up display. 変形例に係るヘッドアップディスプレイの表示例である。It is a display example of the head-up display which concerns on a modification.
 本発明の1つの好適な実施形態では、ヘッドアップディスプレイは、移動体の位置を取得する位置取得手段と、前記移動体を基点とした場合に360度の任意の方向に存在する案内対象の前記移動体に対する方角を取得する方角取得手段と、前記移動体の前方の風景に重畳させて虚像を表示させる表示手段と、前記移動体の進行方向を基準として、前記移動体の現在位置に対して前記案内対象の存在する方角を示す方角情報を前記表示手段に表示させる表示制御手段と、を有する。 In one preferred embodiment of the present invention, the head-up display includes a position acquisition unit that acquires a position of a moving body, and the guidance target that exists in an arbitrary direction of 360 degrees when the moving body is a base point. Direction acquisition means for acquiring a direction with respect to the moving body, display means for displaying a virtual image superimposed on a landscape in front of the moving body, and the current position of the moving body with respect to the traveling direction of the moving body Display control means for causing the display means to display direction information indicating the direction in which the guidance target exists.
 上記ヘッドアップディスプレイは、位置取得手段と、方角取得手段と、表示手段と、表示制御手段とを備える。位置取得手段は、移動体の位置を取得する。方角取得手段は、移動体を基点とした場合に360度の任意の方向に存在する案内対象の移動体に対する方角を取得する。表示手段は、例えばレーザプロジェクタであり、移動体の前方の風景に重畳させて虚像を表示させる。表示制御手段は、移動体の進行方向を基準として、移動体の現在位置に対して案内対象の存在する方角を示す方角情報を表示手段に表示させる。この実施形態によれば、ヘッドアップディスプレイは、観察者に対し、運転時に視認する前方の風景に加えて、後方を含めた任意の方角に存在する案内対象の方角を視認させることができる。 The head-up display includes position acquisition means, direction acquisition means, display means, and display control means. The position acquisition unit acquires the position of the moving body. The direction acquisition means acquires a direction with respect to the moving object to be guided that exists in an arbitrary direction of 360 degrees when the moving object is the base point. The display means is a laser projector, for example, and displays a virtual image superimposed on the scenery in front of the moving body. The display control means causes the display means to display direction information indicating the direction in which the guidance target exists with respect to the current position of the moving body with reference to the traveling direction of the moving body. According to this embodiment, the head-up display allows the observer to visually recognize the direction of the guidance target existing in an arbitrary direction including the rear, in addition to the forward scenery visually recognized during driving.
 上記ヘッドアップディスプレイの一態様では、前記案内対象は、前記風景に含まれない位置に存在する。この態様により、ヘッドアップディスプレイは、観察者が直接視認することができない目的地等の対象についても、その方角を視認させることができる。 In one aspect of the head-up display, the guidance target is present at a position not included in the landscape. According to this aspect, the head-up display can visually recognize the direction of an object such as a destination that the observer cannot directly visually recognize.
 上記ヘッドアップディスプレイの他の一態様では、前記案内対象は、前記移動体の進行方向に対して後方に存在するものを含む。この態様によっても、ヘッドアップディスプレイは、観察者が直接視認することができない対象について、その方角を視認させることができる。 In another aspect of the head-up display, the guidance object includes an object that exists behind the moving direction of the moving body. Also according to this aspect, the head-up display can visually recognize the direction of an object that cannot be directly visually recognized by the observer.
 上記ヘッドアップディスプレイの他の一態様では、前記表示制御手段は、前記移動体の現在位置を中心とした場合の前記移動体に対する方角を示す第一画像と、前記案内対象を表し、前記案内対象が存在する方角に対応する前記第一画像上の位置に重畳された第二画像とを、前記方角情報として前記表示手段に表示させる。この態様では、表示制御手段は、第一画像により移動体を基点とした方角を表示すると共に、第二画像により所定の対象の方角を表示する。これにより、好適に、ヘッドアップディスプレイは、視界に存在しない案内対象の方角を観察者に視認させることができる。 In another aspect of the head-up display, the display control means represents a first image indicating a direction with respect to the moving body when the current position of the moving body is a center, the guidance object, and the guidance object And the second image superimposed on the position on the first image corresponding to the direction in which the image exists is displayed on the display unit as the direction information. In this aspect, the display control means displays the direction with the moving body as the base point by the first image and the direction of the predetermined target by the second image. Thereby, the head-up display can make an observer visually recognize the direction of the guidance object which does not exist in a visual field suitably.
 上記ヘッドアップディスプレイの他の一態様では、移動体の進行方向を取得する進行方向取得手段をさらに備え、前記表示制御手段は、前記第一画像上の前記移動体の進行方向に対応する位置を、前記表示手段が表示する領域中で固定する。これにより、ヘッドアップディスプレイは、案内対象が存在する方角に加えて、移動体と案内対象との相対的な位置関係についても観察者に把握させることができる。 In another aspect of the head-up display, the head-up display further includes a traveling direction acquisition unit that acquires a traveling direction of the moving body, and the display control unit displays a position corresponding to the traveling direction of the moving body on the first image. , And fixed in the area displayed by the display means. As a result, the head-up display allows the observer to grasp the relative positional relationship between the moving body and the guidance target in addition to the direction in which the guidance target exists.
 上記ヘッドアップディスプレイの他の一態様では、前記第一画像は、輪状に形成され、かつ、前記第一画像の所定の方角に対応する位置に、当該所定の方角であることを示す表示が付されている。これにより、好適に、ヘッドアップディスプレイは、所定の対象が存在する方角を、観察者に把握させることができる。 In another aspect of the head-up display, the first image is formed in a ring shape, and a display indicating the predetermined direction is attached to a position corresponding to the predetermined direction of the first image. Has been. Thereby, the head-up display can make an observer grasp the direction where a predetermined object exists suitably.
 上記ヘッドアップディスプレイの他の一態様では、前記第一画像は、前記移動体の現在位置及び進行方向に基づき回転する。これにより、好適に、ヘッドアップディスプレイは、移動体が移動中であっても、所定の対象が存在する方角及び移動体に対する相対的な方向を、観察者に常に正確に把握させることができる。 In another aspect of the head-up display, the first image rotates based on a current position and a traveling direction of the moving body. Thereby, preferably, even if the moving body is moving, the head-up display can always allow the observer to accurately grasp the direction in which the predetermined target exists and the relative direction with respect to the moving body.
 本発明の他の好適な実施形態では、前記移動体の前方の風景に重畳させて虚像を表示させる表示手段と前記表示手段による表示を制御する制御手段とを備えるヘッドアップディスプレイの前記制御手段が実行する制御方法であって、移動体の位置を取得する位置取得工程と、前記移動体を基点とした場合に360度の任意の方向に存在する案内対象の前記移動体に対する方角を取得する方角取得工程と、前記移動体の進行方向を基準として、前記移動体の現在位置に対して前記案内対象の存在する方角を示す方角情報を前記表示手段に表示させる表示制御工程と、を有する。ヘッドアップディスプレイは、この制御方法を実行することで、観察者に対し、運転時に視認する前方の風景に加えて、後方を含めた任意の方角に存在する案内対象の方角を視認させることができる。 In another preferred embodiment of the present invention, the control means of the head-up display comprising: display means for displaying a virtual image superimposed on a landscape in front of the moving body; and control means for controlling display by the display means. A control method to be executed, a position acquisition step for acquiring a position of a moving body, and a direction for acquiring a direction with respect to the moving body of a guidance target existing in an arbitrary direction of 360 degrees when the moving body is a base point An acquisition step, and a display control step for displaying on the display means direction information indicating a direction in which the guidance target exists with respect to a current position of the moving body with reference to a traveling direction of the moving body. By executing this control method, the head-up display allows the observer to visually recognize the direction of the guidance target existing in an arbitrary direction including the rear, in addition to the forward scenery visually recognized during driving. .
 本発明のさらに別の好適な実施形態では、表示装置は、移動体の位置を取得する位置取得手段と、前記移動体を基点とした場合に360度の任意の方向に存在する案内対象の前記移動体に対する方角を取得する方角取得手段と、前記移動体の前方の風景に重畳させて虚像を表示させる表示手段と、前記移動体の進行方向を基準として、前記移動体の現在位置に対して前記案内対象の存在する方角を示す方角情報を前記表示手段に表示させる表示制御手段と、を有する。この実施形態により、表示装置は、観察者に対し、運転時に視認する前方の風景に加えて、後方を含めた任意の方角に存在する案内対象の方角を視認させることができる。 In still another preferred embodiment of the present invention, the display device includes a position acquisition unit that acquires the position of the moving body, and the guidance target that exists in an arbitrary direction of 360 degrees when the moving body is a base point. Direction acquisition means for acquiring a direction with respect to the moving body, display means for displaying a virtual image superimposed on a landscape in front of the moving body, and the current position of the moving body with respect to the traveling direction of the moving body Display control means for causing the display means to display direction information indicating the direction in which the guidance target exists. According to this embodiment, the display device allows the observer to visually recognize the direction of the guidance target existing in an arbitrary direction including the rear, in addition to the forward scenery visually recognized during driving.
 以下、図面を参照して本発明の好適な実施例について説明する。 Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
 [システム構成]
 図1は、本実施例に係るシステムの構成例を示す。図1に示すように、当該システムは、ナビゲーション装置1と、ヘッドアップディスプレイ2とを備える。また、当該システムは、車両に搭載される。
[System configuration]
FIG. 1 shows a configuration example of a system according to the present embodiment. As shown in FIG. 1, the system includes a navigation device 1 and a head-up display 2. The system is mounted on a vehicle.
 ナビゲーション装置1は、出発地から目的地までの経路案内を行う機能などを有する。ナビゲーション装置1は、例えば、車両に設置される据え置き型のナビゲーション装置、PND(Portable Navigation Device)、又はスマートフォンなどの携帯電話とすることができる。 The navigation device 1 has a function of performing route guidance from the departure point to the destination. The navigation device 1 can be, for example, a stationary navigation device installed in a vehicle, a PND (Portable Navigation Device), or a mobile phone such as a smartphone.
 ヘッドアップディスプレイ2は、現在位置を含む地図情報や経路案内情報、走行速度、その他運転を補助する情報を表示する画像を生成し、当該画像を運転者の目の位置(アイポイント)から虚像として視認させる装置である。ヘッドアップディスプレイ2には、車両の位置及び向きの情報、地図情報、及び施設データなどのナビゲーション処理に用いられる各種情報がナビゲーション装置1から供給される。 The head-up display 2 generates an image that displays map information including the current position, route guidance information, travel speed, and other information that assists driving, and the image is converted into a virtual image from the position (eye point) of the driver's eyes. It is a device for visual recognition. The head-up display 2 is supplied from the navigation device 1 with various information used for navigation processing such as vehicle position and orientation information, map information, and facility data.
 なお、ナビゲーション装置1がスマートフォンなどの携帯電話である場合、ナビゲーション装置1は、クレードルなどによって保持されても良い。この場合、ナビゲーション装置1は、クレードルなどを介して、ヘッドアップディスプレイ2と情報の授受を行うこととしても良い。 If the navigation device 1 is a mobile phone such as a smartphone, the navigation device 1 may be held by a cradle or the like. In this case, the navigation device 1 may exchange information with the head-up display 2 via a cradle or the like.
 [ナビゲーション装置の構成]
 図2は、ナビゲーション装置1の構成を示す。図2に示すように、ナビゲーション装置1は、自立測位装置10、GPS受信機18、システムコントローラ20、ディスクドライブ31、データ記憶ユニット36、通信用インタフェース37、通信装置38、インタフェース39、表示ユニット40、音声出力ユニット50、及び入力装置60を備える。
[Configuration of navigation device]
FIG. 2 shows the configuration of the navigation device 1. As shown in FIG. 2, the navigation device 1 includes a self-supporting positioning device 10, a GPS receiver 18, a system controller 20, a disk drive 31, a data storage unit 36, a communication interface 37, a communication device 38, an interface 39, and a display unit 40. A voice output unit 50 and an input device 60.
 自立測位装置10は、加速度センサ11、角速度センサ12及び距離センサ13を備える。加速度センサ11は、例えば圧電素子からなり、車両の加速度を検出し、加速度データを出力する。角速度センサ12は、例えば振動ジャイロからなり、車両の方向変換時における車両の角速度を検出し、角速度データ及び相対方位データを出力する。距離センサ13は、車両の車輪の回転に伴って発生されているパルス信号からなる車速パルスを計測する。 The self-supporting positioning device 10 includes an acceleration sensor 11, an angular velocity sensor 12, and a distance sensor 13. The acceleration sensor 11 is made of, for example, a piezoelectric element, detects vehicle acceleration, and outputs acceleration data. The angular velocity sensor 12 is composed of, for example, a vibrating gyroscope, detects the angular velocity of the vehicle when the direction of the vehicle is changed, and outputs angular velocity data and relative azimuth data. The distance sensor 13 measures a vehicle speed pulse composed of a pulse signal generated with the rotation of the vehicle wheel.
 GPS受信機18は、複数のGPS衛星から、測位用データを含む下り回線データを搬送する電波19を受信する。測位用データは、緯度及び経度情報等から車両の絶対的な位置(以後、「現在位置」とも呼ぶ。)を検出するために用いられる。 The GPS receiver 18 receives radio waves 19 carrying downlink data including positioning data from a plurality of GPS satellites. The positioning data is used to detect the absolute position of the vehicle (hereinafter also referred to as “current position”) from latitude and longitude information.
 システムコントローラ20は、インタフェース21、CPU(Central Processing Unit)22、ROM(Read Only Memory)23及びRAM(Random Access Memory)24を含んでおり、ナビゲーション装置1全体の制御を行う。 The system controller 20 includes an interface 21, a CPU (Central Processing Unit) 22, a ROM (Read Only Memory) 23, and a RAM (Random Access Memory) 24, and controls the entire navigation device 1.
 インタフェース21は、加速度センサ11、角速度センサ12及び距離センサ13並びにGPS受信機18とのインタフェース動作を行う。そして、これらから、車速パルス、加速度データ、相対方位データ、角速度データ、GPS測位データ、絶対方位データ等をシステムコントローラ20に入力する。CPU22は、システムコントローラ20全体を制御する。ROM23は、システムコントローラ20を制御する制御プログラム等が格納された図示しない不揮発性メモリ等を有する。RAM24は、入力装置60を介して使用者により予め設定された経路データ等の各種データを読み出し可能に格納したり、CPU22に対してワーキングエリアを提供したりする。 The interface 21 performs an interface operation with the acceleration sensor 11, the angular velocity sensor 12, the distance sensor 13, and the GPS receiver 18. From these, vehicle speed pulses, acceleration data, relative azimuth data, angular velocity data, GPS positioning data, absolute azimuth data, and the like are input to the system controller 20. The CPU 22 controls the entire system controller 20. The ROM 23 includes a nonvolatile memory (not shown) in which a control program for controlling the system controller 20 is stored. The RAM 24 stores various data such as route data preset by the user via the input device 60 so as to be readable, and provides a working area to the CPU 22.
 システムコントローラ20、CD-ROMドライブ又はDVD-ROMドライブなどのディスクドライブ31、データ記憶ユニット36、通信用インタフェース37、表示ユニット40、音声出力ユニット50及び入力装置60は、バスライン30を介して相互に接続されている。 A system controller 20, a disk drive 31 such as a CD-ROM drive or a DVD-ROM drive, a data storage unit 36, a communication interface 37, a display unit 40, an audio output unit 50 and an input device 60 are mutually connected via a bus line 30. It is connected to the.
 ディスクドライブ31は、システムコントローラ20の制御の下、CD又はDVDといったディスク33から、音楽データ、映像データなどのコンテンツデータを読み出し、出力する。なお、ディスクドライブ31は、CD-ROMドライブ又はDVD-ROMドライブのうち、いずれか一方としてもよいし、CD及びDVDコンパチブルのドライブとしてもよい。データ記憶ユニット36は、例えば、HDDなどにより構成され、地図データなどのナビゲーション処理に用いられる各種データを記憶するユニットである。通信装置38は、例えば、FMチューナやビーコンレシーバ、携帯電話や専用の通信カードなどにより構成され、VICS(Vehicle Information Communication System)センタなどから配信される情報(以下、「VICS情報」と呼ぶ。)を電波39より取得する。そしてインタフェース37は、通信装置38のインタフェース動作を行い、VICS情報をシステムコントローラ20等に入力する。また、通信装置38は、GPS受信機18から取得した現在位置の情報などをヘッドアップディスプレイ2に送信する。 The disk drive 31 reads and outputs content data such as music data and video data from a disk 33 such as a CD or DVD under the control of the system controller 20. The disk drive 31 may be either a CD-ROM drive or a DVD-ROM drive, or may be a CD and DVD compatible drive. The data storage unit 36 is configured by, for example, an HDD and stores various data used for navigation processing such as map data. The communication device 38 includes, for example, an FM tuner, a beacon receiver, a mobile phone, a dedicated communication card, and the like, and information distributed from a VICS (Vehicle Information Communication System) center or the like (hereinafter referred to as “VICS information”). Is acquired from the radio wave 39. The interface 37 performs an interface operation of the communication device 38 and inputs the VICS information to the system controller 20 or the like. Further, the communication device 38 transmits information on the current position acquired from the GPS receiver 18 to the head-up display 2.
 表示ユニット40は、システムコントローラ20の制御の下、各種表示データをディスプレイなどの表示装置に表示する。具体的には、システムコントローラ20は、データ記憶ユニット36から地図データを読み出す。表示ユニット40は、システムコントローラ20によってデータ記憶ユニット36から読み出された地図データなどを表示画面上に表示する。表示ユニット40は、バスライン30を介してCPU22から送られる制御データに基づいて表示ユニット40全体の制御を行うグラフィックコントローラ41と、VRAM(Video RAM)等のメモリからなり即時表示可能な画像情報を一時的に記憶するバッファメモリ42と、グラフィックコントローラ41から出力される画像データに基づいて、液晶、CRT(Cathode Ray Tube)等のディスプレイ44を表示制御する表示制御部43と、ディスプレイ44とを備える。ディスプレイ44は、画像表示部として機能し、例えば対角5~10インチ程度の液晶表示装置等からなり、車内のフロントパネル付近に装着される。 The display unit 40 displays various display data on a display device such as a display under the control of the system controller 20. Specifically, the system controller 20 reads map data from the data storage unit 36. The display unit 40 displays the map data read from the data storage unit 36 by the system controller 20 on the display screen. The display unit 40 includes a graphic controller 41 that controls the entire display unit 40 based on control data sent from the CPU 22 via the bus line 30 and a memory such as a VRAM (Video RAM), and can display image information that can be displayed immediately. A buffer memory 42 that temporarily stores, a display control unit 43 that controls display of a display 44 such as a liquid crystal or a CRT (Cathode Ray Tube) based on image data output from the graphic controller 41, and a display 44 are provided. . The display 44 functions as an image display unit, and includes, for example, a liquid crystal display device having a diagonal size of about 5 to 10 inches and is mounted near the front panel in the vehicle.
 音声出力ユニット50は、システムコントローラ20の制御の下、CD-ROMドライブ31又はDVD-ROM32、若しくはRAM24等からバスライン30を介して送られる音声デジタルデータのD/A(Digital to Analog)変換を行うD/Aコンバータ51と、D/Aコンバータ51から出力される音声アナログ信号を増幅する増幅器(AMP)52と、増幅された音声アナログ信号を音声に変換して車内に出力するスピーカ53とを備えて構成されている。 The audio output unit 50 performs D / A (Digital to Analog) conversion of audio digital data sent from the CD-ROM drive 31, DVD-ROM 32, RAM 24, or the like via the bus line 30 under the control of the system controller 20. A D / A converter 51 to perform, an amplifier (AMP) 52 that amplifies the audio analog signal output from the D / A converter 51, and a speaker 53 that converts the amplified audio analog signal into sound and outputs the sound into the vehicle. It is prepared for.
 入力装置60は、各種コマンドやデータを入力するための、キー、スイッチ、ボタン、リモコン、音声入力装置等から構成されている。入力装置60は、車内に搭載された当該車載用電子システムの本体のフロントパネルやディスプレイ44の周囲に配置される。また、ディスプレイ44がタッチパネル方式の場合、ディスプレイ44の表示画面上に設けられたタッチパネルも入力装置60として機能する。 The input device 60 includes keys, switches, buttons, a remote controller, a voice input device, and the like for inputting various commands and data. The input device 60 is disposed around the front panel and the display 44 of the main body of the in-vehicle electronic system mounted in the vehicle. When the display 44 is a touch panel system, the touch panel provided on the display screen of the display 44 also functions as the input device 60.
 [ヘッドアップディスプレイの構成]
 図3は、ヘッドアップディスプレイ2の概略構成図である。図3に示すように、本実施例に係るヘッドアップディスプレイ2は、光源ユニット3を備え、フロントウィンドウ25、天井部27、ボンネット28、及びダッシュボード29などを備える車両に取り付けられる。
[Configuration of head-up display]
FIG. 3 is a schematic configuration diagram of the head-up display 2. As shown in FIG. 3, the head-up display 2 according to this embodiment includes a light source unit 3 and is attached to a vehicle including a front window 25, a ceiling portion 27, a bonnet 28, a dashboard 29, and the like.
 光源ユニット3は、支持部材5a、5bを介して車室内の天井部27に設置され、運転を補助する情報(「運転補助情報」とも呼ぶ。)を示す画像を構成する光を、コンバイナ9に向けて出射する。具体的には、光源ユニット3は、制御部4の制御に基づき、光源ユニット3内に表示像の元画像(実像)を生成し、その画像を構成する光をコンバイナ9へ出射することで、コンバイナ9を介して運転者に虚像「Iv」を視認させる。光源ユニット3は、本発明における「表示手段」の一例である。 The light source unit 3 is installed on the ceiling portion 27 in the passenger compartment via the support members 5a and 5b, and transmits light constituting an image indicating information for assisting driving (also referred to as “driving assist information”) to the combiner 9. Exit toward. Specifically, the light source unit 3 generates an original image (real image) of the display image in the light source unit 3 based on the control of the control unit 4, and emits light constituting the image to the combiner 9. The virtual image “Iv” is visually recognized by the driver via the combiner 9. The light source unit 3 is an example of the “display unit” in the present invention.
 コンバイナ9は、光源ユニット3から出射される表示像が投影されると共に、表示像を運転者のアイポイントPeへ反射することで当該表示像を虚像Ivとして表示させる。そして、コンバイナ9は、天井部27に設置された支持軸部8を有し、支持軸部8を支軸として回動する。支持軸部8は、例えば、フロントウィンドウ25の上端近傍の天井部27、言い換えると運転者用の図示しないサンバイザが設置される位置の近傍に設置される。なお、支持軸部8は、上述のサンバイザに代えて設置されてもよい。 The combiner 9 projects the display image emitted from the light source unit 3 and reflects the display image to the driver's eye point Pe to display the display image as a virtual image Iv. And the combiner 9 has the support shaft part 8 installed in the ceiling part 27, and rotates the support shaft part 8 as a spindle. The support shaft portion 8 is installed, for example, in the vicinity of the ceiling portion 27 in the vicinity of the upper end of the front window 25, in other words, the position where a sun visor (not shown) for the driver is installed. The support shaft portion 8 may be installed instead of the above-described sun visor.
 制御部4は、図示しないCPUやRAM、ROMなどを有し、ヘッドアップディスプレイ2の全般的な制御を行う。また、制御部4は、ナビゲーション装置1と通信が可能であり、ナビゲーション処理に用いられる各種情報をナビゲーション装置1から受信する。そして、制御部4は、本発明における「位置取得手段」、「方角取得手段」、「表示制御手段」、及び「進行方向取得手段」の一例である。 The control unit 4 includes a CPU, RAM, ROM, and the like (not shown), and performs general control of the head-up display 2. The control unit 4 can communicate with the navigation device 1 and receives various types of information used for navigation processing from the navigation device 1. The control unit 4 is an example of the “position acquisition unit”, “direction acquisition unit”, “display control unit”, and “travel direction acquisition unit” in the present invention.
 [基本表示]
 次に、ヘッドアップディスプレイ2による典型的な表示例について図4を参照して説明する。図4は、運転者が視認するフロントウィンドウ25の表示例を示す。図4では、コンバイナ9の位置を破線により示している。また、前提として、図4では、目的地までの案内ルートが既に設定されており、ヘッドアップディスプレイ2は、信号機46が設置されている交差点47で左折する旨のルート案内の表示を行うものとする。
[Basic display]
Next, a typical display example by the head-up display 2 will be described with reference to FIG. FIG. 4 shows a display example of the front window 25 visually recognized by the driver. In FIG. 4, the position of the combiner 9 is indicated by a broken line. Also, as a premise, in FIG. 4, a guidance route to the destination is already set, and the head-up display 2 displays a route guidance indicating that the vehicle turns left at the intersection 47 where the traffic light 46 is installed. To do.
 図4に示すように、制御部4は、フロントウィンドウ25を介して視認される風景に重畳させて、コンバイナ9を介して虚像Ivを運転者に視認させる。具体的には、図4では、制御部4は、コンバイナ9と重なる範囲に、案内表示アイコン70A~70C、矢印71A~71C、案内地点情報表示72、案内ルート73、仮想信号74、方角情報表示リング75、及び同心円76を虚像Ivとしてそれぞれ表示させている。 As shown in FIG. 4, the control unit 4 causes the driver to visually recognize the virtual image Iv via the combiner 9 while superimposing it on the scenery visually recognized via the front window 25. Specifically, in FIG. 4, the control unit 4 displays guidance display icons 70A to 70C, arrows 71A to 71C, guidance point information display 72, guidance route 73, virtual signal 74, and direction information display in a range overlapping with the combiner 9. The ring 75 and the concentric circle 76 are displayed as virtual images Iv, respectively.
 案内表示アイコン70A~70Cは、フロントウィンドウ25を介して視認される所定の施設及び地点を対象に、当該施設及び地点に関する情報を表示する。具体的には、制御部4は、ナビゲーション装置1から送信される現在位置、車両の向き、及び地図情報に基づき、建物45Aがフロントガラス25を介して視認されると判断し、案内表示アイコン70Aにより建物45Aの施設名称「施設A」を表示すると共に、矢印71Aにより案内表示アイコン70Aが建物45Aの施設情報であることを示す。同様に、制御部4は、駐車場45Bがフロントガラス25を介して視認されると判断し、駐車場45Bに対して、駐車場であることを示すマーク「P」を表示した案内表示アイコン70Bを矢印71Bと共に表示する。また、さらに、制御部4は、次に左折すべき道路45Cに自動速度違反取締装置(オービス)が設置されていると判断し、次に左折する道路に対し、カメラのマークを表示した案内表示アイコン70Cを矢印71Cと共に表示する。 Guidance display icons 70A to 70C display information related to the facility and the point for a predetermined facility and the point visually recognized through the front window 25. Specifically, the control unit 4 determines that the building 45A is visually recognized through the windshield 25 based on the current position, the vehicle orientation, and the map information transmitted from the navigation device 1, and the guidance display icon 70A. Displays the facility name “facility A” of the building 45A, and the arrow 71A indicates that the guidance display icon 70A is facility information of the building 45A. Similarly, the control unit 4 determines that the parking lot 45B is visually recognized through the windshield 25, and displays a guidance display icon 70B that displays a mark “P” indicating that the parking lot 45B is a parking lot. Is displayed together with an arrow 71B. In addition, the control unit 4 determines that an automatic speed control device (Obis) is installed on the road 45C to be next left-turned, and a guidance display that displays a camera mark for the road to be left-turned next. Icon 70C is displayed along with arrow 71C.
 案内地点情報表示72は、次に右左折を行う案内地点(ここでは交差点47)に関する情報を表示する。具体的には、制御部4は、ナビゲーション装置1から送信される現在位置の情報及び地図情報に基づき、現在位置から交差点47までの距離を算出すると共に、交差点47の名称を特定し、「200m ○○交差点」と表示する。また、案内地点情報表示72は、交差点47で曲がるべき方向(ここでは左方向)を示す矢印マーク720を表示する。 The guidance point information display 72 displays information on the guidance point (here, the intersection 47) where the next turn is performed. Specifically, the control unit 4 calculates the distance from the current position to the intersection 47 based on the current position information and the map information transmitted from the navigation device 1, specifies the name of the intersection 47, and determines “200 m “XX intersection” is displayed. In addition, the guide point information display 72 displays an arrow mark 720 indicating a direction to be turned at the intersection 47 (here, the left direction).
 案内ルート73は、車両が進むべきルート(「案内ルート」とも呼ぶ。)であって、上下反転させた俯瞰図により表示されている。言い換えると、案内ルート73は、地表に対して斜め下方向から投影された状態で表示される。従って、案内ルート73では、進行方向がフロントガラス25の下方向と一致する。また、案内ルート73は、実際に運転者がフロントウィンドウ25を介して視認可能な範囲にある案内ルートを仮想的に表示する。そして、案内ルート73の左折地点には、信号機46を仮想的に表示した仮想信号74が示されている。このように、制御部4は、案内ルート73が示す案内ルート中に信号機が存在する場合には、当該案内ルート73に重畳させて仮想信号74を表示する。 The guidance route 73 is a route along which the vehicle should travel (also referred to as “guidance route”), and is displayed as an overhead view that is vertically inverted. In other words, the guide route 73 is displayed in a state of being projected obliquely downward with respect to the ground surface. Therefore, in the guidance route 73, the traveling direction coincides with the lower direction of the windshield 25. In addition, the guide route 73 virtually displays a guide route in a range that is actually visible to the driver through the front window 25. A virtual signal 74 that virtually displays the traffic light 46 is shown at the left turn point of the guide route 73. As described above, when there is a traffic light in the guidance route indicated by the guidance route 73, the control unit 4 displays the virtual signal 74 superimposed on the guidance route 73.
 方角情報表示リング75は、中心を現在位置として、案内ルート73と同一の視点から観察した場合の方角を表示する。ここで、方角情報表示リング75の左端位置751Lは、車両の左側面方向に相当し、方角情報表示リング75の右端位置751Rは、車両の右側面方向に相当し、方角情報表示リング75の下端位置751Fは、車両の進行方向に相当し、方角情報表示リング75の上端位置751Bは、車両の後進方向に相当する。このように、制御部4は、方角情報表示リング75上の車両の進行方向に対応する位置を、下端位置751Fに固定する。言い換えると、制御部4は、方角情報表示リング75上の車両の進行方向に対応する位置を、虚像Ivの表示領域中で固定する。また、方角情報表示リング75中の「N」の位置は、現在位置を基点とした北の方角を示す。方角情報表示リング75中の「N」の表示は、本発明における「所定の方角であることを示す表示」の一例である。そして、方角情報表示リング75は、車両の向きに応じて回転することで、現在位置に対して常に正確な方角を表示する。 The direction information display ring 75 displays the direction when observed from the same viewpoint as the guide route 73 with the center as the current position. Here, the left end position 751L of the direction information display ring 75 corresponds to the left side direction of the vehicle, the right end position 751R of the direction information display ring 75 corresponds to the right side direction of the vehicle, and the lower end of the direction information display ring 75. The position 751F corresponds to the traveling direction of the vehicle, and the upper end position 751B of the direction information display ring 75 corresponds to the backward traveling direction of the vehicle. Thus, the control unit 4 fixes the position corresponding to the traveling direction of the vehicle on the direction information display ring 75 to the lower end position 751F. In other words, the control unit 4 fixes the position corresponding to the traveling direction of the vehicle on the direction information display ring 75 in the display area of the virtual image Iv. Further, the position of “N” in the direction information display ring 75 indicates the north direction with the current position as a base point. The display of “N” in the direction information display ring 75 is an example of “display indicating a predetermined direction” in the present invention. The direction information display ring 75 rotates according to the direction of the vehicle, so that it always displays an accurate direction with respect to the current position.
 また、方角情報表示リング75上には、目的地が存在する方角に応じて方角情報表示リング75上を移動する目的地アイコン752が表示されている。目的地アイコン752は、車両の位置及び向きの変化に応じて方角情報表示リング75上を移動する。図4では、目的地アイコン752は、現在位置からおよそ西の方角に目的地が存在することを示す。さらに、方角情報表示リング75は、現在位置に対する目的地の方角を表示するのに付随して、車両と目的地との相対的な方向を指し示す。具体的には、図4では、目的地アイコン752は、車両の進行方向に対して斜め左方向に目的地が存在することを示す。 Further, on the direction information display ring 75, a destination icon 752 that moves on the direction information display ring 75 in accordance with the direction where the destination exists is displayed. The destination icon 752 moves on the direction information display ring 75 according to changes in the position and orientation of the vehicle. In FIG. 4, the destination icon 752 indicates that the destination exists in the west direction from the current position. Furthermore, the direction information display ring 75 indicates the relative direction between the vehicle and the destination in association with displaying the direction of the destination with respect to the current position. Specifically, in FIG. 4, the destination icon 752 indicates that the destination exists in a diagonally left direction with respect to the traveling direction of the vehicle.
 ここで、方向情報表示リング75及び目的地アイコン752は、本発明における「方角情報」の一例であり、方向情報表示リング75は本発明における「第一画像」の一例であり、目的地アイコン752は本発明における「第二画像」の一例である。 Here, the direction information display ring 75 and the destination icon 752 are examples of “direction information” in the present invention, and the direction information display ring 75 is an example of “first image” in the present invention. Is an example of a “second image” in the present invention.
 同心円76は、案内ルート73の表示上における案内ルート73の案内地点からの距離間隔を示す。言い換えると、同心円76は、案内ルート73の案内地点、即ち交差点47から等距離にある位置を結んだ同心円である。同心円76は、案内地点から等間隔に描かれた第1同心円761、第2同心円762、及び第3同心円763を有する。例えば、同心円76が「50m」ごとに描かれる場合、第1同心円761は交差点47から「50m」の位置を示し、第2同心円762は交差点47から「100m」の位置を示し、第3同心円763は交差点47から「150m」の位置を示す。 The concentric circle 76 indicates a distance interval from the guide point of the guide route 73 on the display of the guide route 73. In other words, the concentric circles 76 are concentric circles connecting positions that are equidistant from the guide point of the guide route 73, that is, the intersection 47. The concentric circle 76 includes a first concentric circle 761, a second concentric circle 762, and a third concentric circle 763 drawn at equal intervals from the guide point. For example, when the concentric circle 76 is drawn every “50 m”, the first concentric circle 761 indicates the position “50 m” from the intersection 47, the second concentric circle 762 indicates the position “100 m” from the intersection 47, and the third concentric circle 763. Indicates a position “150 m” from the intersection 47.
 このように、図4に示す表示例では、ヘッドアップディスプレイ2は、運転者の視界内にある施設や道路などの対象物に関する情報表示(「視界内情報表示」とも呼ぶ。)に加え、運転者の視界外の対象物に関する情報表示(「視界外情報表示」とも呼ぶ。)を行う。これにより、ヘッドアップディスプレイ2は、観察者の視界に存在する建物などの情報だけでなく、遠くにある対象の方角についても観察者に認識させることができる。なお、図4では、視界内情報表示は、案内表示アイコン70A~70C、矢印71A~71C、案内地点情報表示72、案内ルート73、仮想信号74、及び同心円76などが該当し、視界外情報表示は、方角情報表示リング75が該当する。 As described above, in the display example shown in FIG. 4, the head-up display 2 operates in addition to information display (also referred to as “in-view information display”) regarding an object such as a facility or road in the driver's view. Display information on an object outside the user's field of view (also referred to as “out-of-field information display”). Thereby, the head-up display 2 can make an observer recognize not only the information of the building etc. which exists in an observer's visual field but the direction of the object in the distance. In FIG. 4, in-view information display includes guide display icons 70A to 70C, arrows 71A to 71C, guide point information display 72, guide route 73, virtual signal 74, concentric circle 76, and the like. Corresponds to the direction information display ring 75.
 [平面地図表示]
 制御部4は、虚像Ivによる情報表示として、図4に示す表示の他に、ユーザの操作に基づき、平面に表示された地図を含む表示(「平面地図表示」とも呼ぶ。)を行う。これについて、図5を参照して説明する。なお、制御部4は、例えばヘッドアップディスプレイ2を操作するためのリモートコントローラ(不図示)などの所定の入力手段への入力を検知した場合に、これらの表示の切り替えを行う。
[Plane map display]
In addition to the display shown in FIG. 4, the control unit 4 performs display including a map displayed on a plane (also referred to as “planar map display”) as information display by the virtual image Iv based on a user operation. This will be described with reference to FIG. In addition, the control part 4 switches these displays, when the input to predetermined input means, such as a remote controller (not shown) for operating the head-up display 2, for example, is detected.
 図5は、ヘッドアップディスプレイ2が平面地図表示を行った場合に運転者が視認するフロントウィンドウ25の表示例を示す。図5では、制御部4は、虚像Ivとして、案内地点情報表示72と、平面地図81と、現在位置表示82と、案内ルート83とを表示する。 FIG. 5 shows a display example of the front window 25 visually recognized by the driver when the head-up display 2 performs a planar map display. In FIG. 5, the control unit 4 displays a guidance point information display 72, a planar map 81, a current position display 82, and a guidance route 83 as a virtual image Iv.
 平面地図81は、現在位置を含むエリアを所定の縮尺により平面的に表示した地図である。なお、平面地図81の縮尺は、図示しない入力手段によるヘッドアップディスプレイ2への所定の入力により変更される。現在位置表示82は、平面地図81での車両の現在位置を示す。案内ルート83は、平面地図81中で車両が走行すべき案内ルートを示す。 The planar map 81 is a map in which an area including the current position is planarly displayed at a predetermined scale. The scale of the planar map 81 is changed by a predetermined input to the head-up display 2 by an input unit (not shown). The current position display 82 indicates the current position of the vehicle on the planar map 81. A guide route 83 indicates a guide route that the vehicle should travel in the planar map 81.
 [他の表示例]
 次に、ヘッドアップディスプレイ2による他の表示例について説明する。ヘッドアップディスプレイ2は、ユーザの入力に基づき、視界外情報表示のみを表示することも可能である。以下、この場合の表示例について説明する。
[Other display examples]
Next, another display example by the head-up display 2 will be described. The head-up display 2 can also display only out-of-view information display based on user input. Hereinafter, a display example in this case will be described.
 図6は、ヘッドアップディスプレイ2による視覚外情報表示の例を示す。ここでは、目的地までの案内ルートが設定されていないものとする。図6に示すように、この場合、制御部4は、方角情報表示リング75を表示すると共に、方角情報表示リング75上に、著名な電波塔が存在する位置を示すランドマークアイコン752Aを表示している。ここでは、ランドマークアイコン752Aは、著名な電波塔が東の方向であって、車両の進行方向に対して右斜め後ろ方向に存在することを示している。そして、ランドマークアイコン52Aは、車両の位置及び進行方向の変化に応じて方角情報表示リング75上を移動する。 FIG. 6 shows an example of non-visual information display by the head-up display 2. Here, it is assumed that the guide route to the destination is not set. As shown in FIG. 6, in this case, the control unit 4 displays a direction information display ring 75 and displays a landmark icon 752 </ b> A indicating a position where a famous radio tower exists on the direction information display ring 75. ing. Here, the landmark icon 752A indicates that a well-known radio tower is in the east direction, and exists in the diagonally right rear direction with respect to the traveling direction of the vehicle. Then, the landmark icon 52A moves on the direction information display ring 75 in accordance with changes in the position of the vehicle and the traveling direction.
 このように、制御部4は、方角情報表示リング75により、自車の前方だけではなく、後方を含めた進行方向に対して360度の範囲の任意の対象の方角及び自車との相対的な方向を表示することができる。 In this way, the control unit 4 uses the direction information display ring 75 to make a relative direction with respect to the direction of an arbitrary target in the range of 360 degrees with respect to the traveling direction including the rear as well as the front of the own vehicle. Various directions can be displayed.
 また、制御部4は、図4に示す目的地アイコン752及びランドマークアイコン752Aに代えて、又は、これに加えて、目的地の途中で立ち寄る地点として登録された立寄地や後述する友人の位置などの種々の対象の位置を示すアイコンを、方角情報表示リング75上に表示させてもよい。具体的には、制御部4は、例えばユーザの入力に基づき指定された案内対象を表すアイコンを、方角情報表示リング75上に表示させる。 Further, the control unit 4 replaces or in addition to the destination icon 752 and the landmark icon 752A shown in FIG. Icons indicating the positions of various objects such as may be displayed on the direction information display ring 75. Specifically, the control unit 4 displays, on the direction information display ring 75, for example, an icon representing a guidance target designated based on a user input.
 ここで、GPS受信機が搭載された携帯端末機を有する友人の位置を示すアイコンを方角情報表示リング75上に表示する例について説明する。例えば、ナビゲーション装置1が通話機能を有し、GPS受信機が搭載された友人の携帯端末機からナビゲーション装置1に着信があった場合、ナビゲーション装置1は、上述の携帯端末機からそのGPS受信機により取得された位置情報を通信により受信し、当該位置情報並びに自車の位置及び方向の情報を制御部4へ転送する。そして、制御部4は、着信があった携帯端末機の友人を示すアイコンを、受信した情報に基づき特定した方角情報表示リング75上の位置に表示させる。 Here, an example will be described in which an icon indicating the position of a friend who has a mobile terminal equipped with a GPS receiver is displayed on the direction information display ring 75. For example, when the navigation device 1 has a call function and a call is received from a friend's portable terminal equipped with a GPS receiver, the navigation device 1 receives the GPS receiver from the portable terminal described above. The position information acquired by the above is received by communication, and the position information and the information on the position and direction of the own vehicle are transferred to the control unit 4. And the control part 4 displays the icon which shows the friend of the portable terminal device which received the call in the position on the direction information display ring 75 specified based on the received information.
 このように、制御部4は、方角情報表示リング75により、運転者の視覚外に存在し、運転の目印等となる案内対象の方角及び自車に対する方向を好適に表示することができる。 In this way, the control unit 4 can suitably display the direction of the guidance target that is outside the driver's vision and serves as a driving landmark and the direction with respect to the host vehicle by the direction information display ring 75.
 [変形例]
 以下、上述の実施例に好適な変形例について説明する。以下の変形例は、任意に組み合わせて上述の実施例に適用してもよい。
[Modification]
Hereinafter, modified examples suitable for the above-described embodiments will be described. The following modifications may be applied in any combination to the above-described embodiments.
 (変形例1)
 図3では、ヘッドアップディスプレイ2は、コンバイナ9を介して虚像Ivを運転者に視認させていたが、本発明が適用可能なヘッドアップディスプレイ2の構成は、これに限定されない。
(Modification 1)
In FIG. 3, the head-up display 2 allows the driver to visually recognize the virtual image Iv via the combiner 9, but the configuration of the head-up display 2 to which the present invention can be applied is not limited to this.
 図8は、変形例に係るヘッドアップディスプレイ2Aの概略構成を示す。図8に示すように、ヘッドアップディスプレイ2Aでは、光源ユニット3は、表示像を構成する光をフロントガラス25に向けて出射する。そして、フロントウィンドウ25は、光源ユニット3から出射される表示像が投影されると共に、表示像をアイポイントPeへ反射することで当該表示像を虚像Ivとして表示させる。 FIG. 8 shows a schematic configuration of a head-up display 2A according to a modification. As shown in FIG. 8, in the head-up display 2 </ b> A, the light source unit 3 emits light constituting the display image toward the windshield 25. The front window 25 projects the display image emitted from the light source unit 3 and reflects the display image to the eye point Pe to display the display image as a virtual image Iv.
 また、光源ユニット3の位置は、天井部27に設置される場合に限らず、ダッシュボード29の内部に設置されてもよい。この場合、ダッシュボード29には、図3のコンバイナ9又は図8のフロントウィンドウ25に光を通過させるための開口部が設けられる。 Further, the position of the light source unit 3 is not limited to being installed on the ceiling portion 27 but may be installed inside the dashboard 29. In this case, the dashboard 29 is provided with an opening for allowing light to pass through the combiner 9 in FIG. 3 or the front window 25 in FIG.
 (変形例2)
 図1等の説明では、ヘッドアップディスプレイ2は、ナビゲーション装置1から地図情報などを受信した後、運転補助情報を示す画像を生成していた。しかし、本発明が適用可能な構成はこれに限定されず、これに代えて、ナビゲーション装置1は、運転補助情報を示す画像を生成して当該画像をヘッドアップディスプレイ2に送信し、ヘッドアップディスプレイ2は、受信した画像を構成する光を出射してもよい。即ち、この場合、ナビゲーション装置1のシステムコントローラ20は、ヘッドアップディスプレイ2の制御部4が行う処理の一部又は全部を行う。これによっても、好適に、ヘッドアップディスプレイ2は、運転補助情報を虚像Ivとして運転者に視認させることができる。なお、この場合、ナビゲーション装置1及びヘッドアップディスプレイ2は、本発明における「ヘッドアップディスプレイ」又は「表示装置」の一例である。
(Modification 2)
In the description of FIG. 1 and the like, the head-up display 2 generates an image indicating driving assistance information after receiving map information or the like from the navigation device 1. However, the configuration to which the present invention can be applied is not limited to this. Instead, the navigation device 1 generates an image indicating driving assistance information, transmits the image to the head-up display 2, and the head-up display. 2 may emit light constituting the received image. That is, in this case, the system controller 20 of the navigation device 1 performs part or all of the processing performed by the control unit 4 of the head-up display 2. Also by this, the head-up display 2 can make a driver | operator visually recognize the driving assistance information as the virtual image Iv suitably. In this case, the navigation device 1 and the head-up display 2 are examples of the “head-up display” or “display device” in the present invention.
 他の例では、ヘッドアップディスプレイ2は、ナビゲーション装置1と通信を行うことなく、運転補助情報を表示してもよい。この場合、ヘッドアップディスプレイ2の光源ユニット3は、GPS受信機及び距離センサなどの自立測位装置を備え、車両の位置及び方向などを測定する。また、光源ユニット3は、施設情報を含む地図情報などを予めメモリに記憶する。そして、光源ユニット3は、測定した車両の位置等に基づき、地図情報等を参照して、運転補助情報を示す画像を構成する光を出射する。 In another example, the head-up display 2 may display driving assistance information without communicating with the navigation device 1. In this case, the light source unit 3 of the head-up display 2 includes a self-supporting positioning device such as a GPS receiver and a distance sensor, and measures the position and direction of the vehicle. The light source unit 3 stores map information including facility information in a memory in advance. Then, the light source unit 3 refers to map information and the like based on the measured vehicle position and the like, and emits light constituting an image indicating driving assistance information.
 (変形例3)
 ヘッドアップディスプレイ2は、図5に示す平面地図表示と共に、方角情報表示リング75を虚像Ivとして表示してもよい。この場合、好適には、方角情報表示リング75は、左端位置751Lと右端位置751Rとの幅と、上端位置751Bと下端位置751Fとの幅とが等しくなるように形成され、かつ、下端位置751Fは、車両の後進方向に相当し、上端位置751Bは、車両の進行方向に相当する。
(Modification 3)
The head-up display 2 may display the direction information display ring 75 as a virtual image Iv together with the planar map display shown in FIG. In this case, the direction information display ring 75 is preferably formed so that the widths of the left end position 751L and the right end position 751R are equal to the widths of the upper end position 751B and the lower end position 751F, and the lower end position 751F. Corresponds to the backward direction of the vehicle, and the upper end position 751B corresponds to the traveling direction of the vehicle.
 (変形例4)
 ヘッドアップディスプレイ2に代えて、ナビゲーション装置1が上述した実施例の表示を行ってもよい。この場合、ナビゲーション装置1は、車両の前方方向を撮影するカメラなどの撮影手段から車両の前方方向の風景を示す画像を取得し、当該画像に重畳させて、案内表示アイコン70A~70Cや方角情報リング75などの虚像Ivの内容を表示する。この場合、ナビゲーション装置1は、本発明における「表示装置」の一例である。
(Modification 4)
Instead of the head-up display 2, the navigation device 1 may display the above-described embodiment. In this case, the navigation device 1 acquires an image showing a landscape in the forward direction of the vehicle from an imaging unit such as a camera that captures the forward direction of the vehicle, and superimposes the image on the image to display guidance display icons 70A to 70C and direction information. The contents of the virtual image Iv such as the ring 75 are displayed. In this case, the navigation device 1 is an example of the “display device” in the present invention.
 (変形例5)
 図4に示す虚像Ivによる表示に加えて、ヘッドアップディスプレイ2は、案内ルート73の案内地点に対応する位置に進行方向を示す矢印をさらに付加したり、同心円76の各々に対応させて、各同心円76が示す案内地点からの距離の表示を付加したりしてもよい。
(Modification 5)
In addition to the display by the virtual image Iv shown in FIG. 4, the head-up display 2 further adds an arrow indicating the traveling direction to a position corresponding to the guide point of the guide route 73, or corresponds to each of the concentric circles 76. An indication of the distance from the guide point indicated by the concentric circle 76 may be added.
 図8(a)~(c)は、変形例において、コンバイナ9を介して視認される時系列での虚像Ivによる情報表示の遷移を示す。具体的に、図8(a)は、車両が案内地点から100m~75m付近にある場合の虚像Ivによる情報表示を示し、図8(b)は、車両が案内地点から75m~50m付近にある場合の虚像Ivによる情報表示を示し、図8(c)は、車両が案内地点から50m~25m付近にある場合の虚像Ivによる情報表示を示す。 FIGS. 8A to 8C show transition of information display by the virtual image Iv in a time series viewed through the combiner 9 in the modified example. Specifically, FIG. 8 (a) shows information display by a virtual image Iv when the vehicle is near 100m to 75m from the guidance point, and FIG. 8 (b) shows that the vehicle is near 75m to 50m from the guidance point. FIG. 8C shows information display using the virtual image Iv when the vehicle is in the vicinity of 50 m to 25 m from the guide point.
 図8(a)~(c)に示すように、本変形例では、制御部4は、案内ルート73の案内地点に対応する位置に進行方向(ここでは左方向)を示す矢印77と、同心円76が示す案内地点からの距離を表示した距離表示78とを虚像Ivとしてそれぞれ表示させている。なお、ここでは、第1同心円761は、案内地点から25mの位置を示し、第2同心円762は、案内地点から50mの位置を示し、第3同心円763は、案内地点から75mの位置を示すものとする。 As shown in FIGS. 8A to 8C, in this modification, the control unit 4 has an arrow 77 indicating a traveling direction (left direction in this case) at a position corresponding to the guide point of the guide route 73 and a concentric circle. A distance display 78 displaying the distance from the guide point indicated by 76 is displayed as a virtual image Iv. Here, the first concentric circle 761 indicates a position 25 m from the guidance point, the second concentric circle 762 indicates a position 50 m from the guidance point, and the third concentric circle 763 indicates a position 75 m from the guidance point. And
 そして、本変形例では、制御部4は、案内地点と車両の距離とに応じて矢印77の大きさを変える。具体的には、図8(a)~(c)に示すように、制御部4は、車両が案内地点に近づくほど、矢印77を大きく表示する。これにより、制御部4は、運転者に対し、次に右左折すべき案内地点及び当該案内地点での進行方向を明確に視認させる。 And in this modification, the control part 4 changes the magnitude | size of the arrow 77 according to the distance of a guidance point and a vehicle. Specifically, as shown in FIGS. 8A to 8C, the control unit 4 displays the arrow 77 larger as the vehicle approaches the guide point. Thereby, the control part 4 makes a driver | operator clearly visually recognize the guidance point which should turn right and left next, and the advancing direction in the said guidance point.
 また、制御部4は、現在位置に最も近い位置を示す同心円76に対して、距離表示78を順次表示する。具体的には、図8(a)のように案内地点から75m~100mの地点を車両が走行中の場合には、第3同心円763が表示されている同心円76のうち最外周の同心円76にあたることから、制御部4は、第3同心円763に対して当該第3同心円763が案内地点から75m地点である旨の距離表示78を付す。また、図8(b)のように案内地点から50m~100mの地点を車両が走行中の場合には、現在位置よりも案内地点から遠い地点を示す第3同心円763は表示されず、表示されている同心円76のうち第2同心円762が最外周の同心円76となる。従って、この場合、制御部4は、第2同心円762に対して当該第2同心円762が案内地点から50m地点である旨の距離表示78を付す。同様に、図8(c)のように案内地点から25m~50mの地点を車両が走行中の場合には、現在位置よりも案内地点から遠い地点を示す第3同心円763及び第2同心円762は表示されず、表示されている同心円76のうち第1同心円761が最外周の同心円76となる。従って、この場合、制御部4は、第1同心円761に対して当該第1同心円761が案内地点から25m地点である旨の距離表示78を付している。これにより、制御部4は、運転者に対し、次に右左折すべき案内地点までの距離を容易に視認させる。 Also, the control unit 4 sequentially displays the distance display 78 for the concentric circle 76 indicating the position closest to the current position. Specifically, as shown in FIG. 8A, when the vehicle is traveling from 75 m to 100 m from the guide point, the third concentric circle 763 corresponds to the outermost concentric circle 76. Therefore, the control unit 4 attaches a distance display 78 to the third concentric circle 763 to the effect that the third concentric circle 763 is a 75 m point from the guide point. Also, as shown in FIG. 8B, when the vehicle is traveling from 50 m to 100 m from the guide point, the third concentric circle 763 indicating a point farther from the guide point than the current position is not displayed. The second concentric circle 762 among the concentric circles 76 is the outermost concentric circle 76. Therefore, in this case, the control unit 4 attaches a distance display 78 to the second concentric circle 762 to the effect that the second concentric circle 762 is 50 m from the guide point. Similarly, when the vehicle is traveling from 25 m to 50 m from the guide point as shown in FIG. 8C, the third concentric circle 763 and the second concentric circle 762 indicating points far from the guide point than the current position are Of the displayed concentric circles 76, the first concentric circle 761 is the outermost concentric circle 76. Therefore, in this case, the control unit 4 attaches a distance display 78 to the first concentric circle 761 to the effect that the first concentric circle 761 is 25 m from the guide point. Thereby, the control part 4 makes a driver | operator easily visually recognize the distance to the guidance point which should turn right and left next.
 本発明は、経路案内や車両の情報を運転者に視認させるヘッドアップディスプレイに好適に適用することができる。 The present invention can be suitably applied to a head-up display that allows a driver to visually recognize route guidance and vehicle information.
 1 ナビゲーション装置
 2 ヘッドアップディスプレイ
 3 光源ユニット
 9 コンバイナ
 25 フロントウィンドウ
 28 ボンネット
 29 ダッシュボード
DESCRIPTION OF SYMBOLS 1 Navigation apparatus 2 Head-up display 3 Light source unit 9 Combiner 25 Front window 28 Bonnet 29 Dashboard

Claims (9)

  1.  移動体の位置を取得する位置取得手段と、
     前記移動体を基点とした場合に360度の任意の方向に存在する案内対象の前記移動体に対する方角を取得する方角取得手段と、
     前記移動体の前方の風景に重畳させて虚像を表示させる表示手段と、
     前記移動体の進行方向を基準として、前記移動体の現在位置に対して前記案内対象の存在する方角を示す方角情報を前記表示手段に表示させる表示制御手段と、
    を有することを特徴とするヘッドアップディスプレイ。
    Position acquisition means for acquiring the position of the moving body;
    Direction acquisition means for acquiring a direction of the guidance target with respect to the moving object existing in an arbitrary direction of 360 degrees when the moving object is a base point;
    Display means for displaying a virtual image superimposed on the scenery in front of the moving body;
    Display control means for causing the display means to display direction information indicating the direction in which the guidance target is present with respect to the current position of the moving body, with reference to the traveling direction of the moving body;
    A head-up display comprising:
  2.  前記案内対象は、前記風景に含まれない位置に存在することを特徴とする請求項1に記載のヘッドアップディスプレイ。 The head-up display according to claim 1, wherein the guidance object is present at a position not included in the landscape.
  3.  前記案内対象は、前記移動体の進行方向に対して後方に存在するものを含むことを特徴とする請求項1または2に記載のヘッドアップディスプレイ。 The head-up display according to claim 1 or 2, wherein the guidance object includes an object existing behind the moving direction of the moving body.
  4.   前記表示制御手段は、
     前記移動体の現在位置を中心とした場合の前記移動体に対する方角を示す第一画像と、
     前記案内対象を表し、前記案内対象が存在する方角に対応する前記第一画像上の位置に重畳された第二画像とを、
     前記方角情報として前記表示手段に表示させることを特徴とする請求項1乃至3のいずれか一項に記載のヘッドアップディスプレイ。
    The display control means includes
    A first image showing a direction relative to the moving body when the current position of the moving body is the center;
    A second image that represents the guidance object and is superimposed at a position on the first image corresponding to the direction in which the guidance object exists.
    The head-up display according to any one of claims 1 to 3, wherein the direction information is displayed on the display means.
  5.  移動体の進行方向を取得する進行方向取得手段をさらに備え、
      前記表示制御手段は、
     前記第一画像上の前記移動体の進行方向に対応する位置を、前記表示手段が表示する領域中で固定することを特徴とする請求項4に記載のヘッドアップディスプレイ。
    It further comprises traveling direction acquisition means for acquiring the traveling direction of the moving body,
    The display control means includes
    The head-up display according to claim 4, wherein a position corresponding to a traveling direction of the moving body on the first image is fixed in an area displayed by the display unit.
  6.  前記第一画像は、輪状に形成され、かつ、前記第一画像の所定の方角に対応する位置に、当該所定の方角であることを示す表示が付されていることを特徴とする請求項4または5に記載のヘッドアップディスプレイ。 5. The first image is formed in a ring shape, and a display indicating the predetermined direction is attached to a position corresponding to the predetermined direction of the first image. Or the head-up display of 5.
  7.  前記第一画像は、前記移動体の現在位置及び進行方向に基づき回転することを特徴とする請求項6に記載のヘッドアップディスプレイ。 The head-up display according to claim 6, wherein the first image rotates based on a current position and a traveling direction of the moving body.
  8.  前記移動体の前方の風景に重畳させて虚像を表示させる表示手段と前記表示手段による表示を制御する制御手段とを備えるヘッドアップディスプレイの前記制御手段が実行する制御方法であって、
     移動体の位置を取得する位置取得工程と、
     前記移動体を基点とした場合に360度の任意の方向に存在する案内対象の前記移動体に対する方角を取得する方角取得工程と、
     前記移動体の進行方向を基準として、前記移動体の現在位置に対して前記案内対象の存在する方角を示す方角情報を前記表示手段に表示させる表示制御工程と、
    を有することを特徴とする制御方法。
    A control method executed by the control means of the head-up display, comprising: display means for displaying a virtual image superimposed on a landscape in front of the moving body; and control means for controlling display by the display means,
    A position acquisition step of acquiring the position of the moving body;
    A direction acquisition step of acquiring a direction with respect to the moving body of the guidance target existing in an arbitrary direction of 360 degrees when the moving body is a base point;
    A display control step of causing the display means to display direction information indicating a direction in which the guidance target exists with respect to a current position of the moving body with reference to a traveling direction of the moving body;
    A control method characterized by comprising:
  9.  移動体の位置を取得する位置取得手段と、
     前記移動体を基点とした場合に360度の任意の方向に存在する案内対象の前記移動体に対する方角を取得する方角取得手段と、
     前記移動体の前方の風景に重畳させて虚像を表示させる表示手段と、
     前記移動体の進行方向を基準として、前記移動体の現在位置に対して前記案内対象の存在する方角を示す方角情報を前記表示手段に表示させる表示制御手段と、
    を有することを特徴とする表示装置。
    Position acquisition means for acquiring the position of the moving body;
    Direction acquisition means for acquiring a direction of the guidance target with respect to the moving object existing in an arbitrary direction of 360 degrees when the moving object is a base point;
    Display means for displaying a virtual image superimposed on the scenery in front of the moving body;
    Display control means for causing the display means to display direction information indicating the direction in which the guidance target is present with respect to the current position of the moving body, with reference to the traveling direction of the moving body;
    A display device comprising:
PCT/JP2011/072541 2011-09-30 2011-09-30 Head-up display, control method, and display device WO2013046425A1 (en)

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US11465504B2 (en) * 2020-02-19 2022-10-11 Honda Motor Co., Ltd. Control device, vehicle, computer-readable storage medium, and control method
DE102022114347A1 (en) 2021-06-10 2022-12-15 Toyota Jidosha Kabushiki Kaisha Vehicle display device, display method and storage medium

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Publication number Priority date Publication date Assignee Title
US11465504B2 (en) * 2020-02-19 2022-10-11 Honda Motor Co., Ltd. Control device, vehicle, computer-readable storage medium, and control method
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