WO2019130860A1

WO2019130860A1 - Head-up display device and control program

Info

Publication number: WO2019130860A1
Application number: PCT/JP2018/041849
Authority: WO
Inventors: 山田　範秀; 橋村　淳司; 瑛士関口
Original assignee: コニカミノルタ株式会社
Priority date: 2017-12-27
Filing date: 2018-11-12
Publication date: 2019-07-04
Also published as: JPWO2019130860A1

Abstract

The present invention allows a driver to intuitively grasp the travel state of a mobile unit. This head-up display device 10: acquires, by means of a travel state acquisition unit 73, the travel state of a mobile unit 800 wherein is installed the head-up display device 10; produces, from the acquired travel state, an image of a virtual mobile unit f1 simulating the mobile unit 800; and displays the image on a drawing device 21, thereby projectingly displaying the virtual mobile unit f1 toward the front as a virtual image.

Description

HEAD-UP DISPLAY DEVICE, AND CONTROL PROGRAM

The present invention relates to a head-up display device and a control program.

In a conventional head-up display (hereinafter, also simply referred to as “HUD”), it is common to generate a virtual image at a certain distance from the driver. The display content by this HUD was limited to the operating speed of the vehicle and simple navigation.

For example, in the HUD device disclosed in Patent Document 1, the search result from the database for navigation is displayed in accordance with the road surface shape by a character string expressed in perspective.

Further, in the HUD device disclosed in Patent Document 2, when the intersection approaches a predetermined distance, navigation information such as a right turn direction and a street name regarding the intersection is displayed.

JP 2012-35784 A JP, 2014-52345, A

However, in Patent Documents 1 and 2, only character information and arrows are displayed, and it is difficult for the driver of the vehicle to intuitively grasp the traveling situation.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a head-up display device capable of intuitively grasping the traveling condition of a mobile body such as a vehicle.

The above object of the present invention is achieved by the following means.

(1) A head-up display device mounted on a traveling moving body,
A drawing device for displaying an image based on the image data;
A virtual image projection optical system including an intermediate screen, forming an image displayed by the drawing device on the intermediate screen, converting the formed intermediate image into a virtual image, and projecting and displaying the virtual image;
A traveling condition acquisition unit that acquires a traveling condition of the moving body;
According to the traveling condition acquired by the traveling condition acquisition unit, an image of a virtual mobile object imitating the mobile object is created and displayed on the drawing device, thereby making the virtual mobile object a virtual image of the mobile object. And a display control unit configured to project and display on the front side.

(2) The traveling state acquisition unit acquires the traveling speed of the movable body as the traveling state,
The head-up display device according to (1), wherein the display control unit changes the virtual moving body according to a difference between the traveling speed and a preset reference speed.

(3) The traveling state acquisition unit acquires the traveling speed of the moving body as the traveling state.
The display control unit causes the virtual moving body to be displayed larger as the traveling speed increases, and the virtual moving body is displayed smaller as the traveling speed decreases, according to (1) or (2). Head-up display device as described.

(4) A moving mechanism is further provided to change the position of the intermediate screen in the optical axis direction,
The virtual image projection optical system projects and displays a virtual image at a virtual image distance according to the position of the intermediate screen changed by the moving mechanism,
The traveling state acquisition unit acquires a traveling speed of the moving body as the traveling state.
The display control unit shortens the virtual image distance of the virtual moving body as the traveling speed increases, and lengthens the virtual image distance as the traveling speed decreases, and the display is performed in any of the above (1) to (3) The head-up display device according to any one of the above.

(5) The traveling state acquisition unit acquires, as the traveling state, operation information on the position and route of the mobile body from a car navigation system,
The display control unit changes the direction of the virtual mobile body to an image corresponding to any of straight turn, right turn, or left turn based on the operation information acquired by the traveling state acquisition unit, and displays the image as described above The head up display device according to any one of 1) to (4) above.

(6) A head-up display device mounted on a moving body, which includes an intermediate screen, forms an image displayed by a drawing device on the intermediate screen, and converts the formed intermediate image into a virtual image A control program to be executed by a computer for controlling a head-up display device provided with a virtual image projection optical system for performing projection display and a traveling condition acquisition unit for acquiring a traveling condition of the movable body,
Acquiring the traveling condition of the moving body by the traveling condition acquisition unit;
According to the traveling condition acquired in step (a), an image of a virtual moving body imitating the moving body is created and displayed on the drawing device, so that the virtual moving body serves as a virtual image in front of the moving body And (b) projecting and displaying on
A control program for causing the computer to execute.

(7) In the step (a), the traveling state acquisition unit acquires the traveling speed of the movable body as the traveling state,
The control according to (6), wherein, in the step (b), the virtual image of the virtual moving body is changed according to the difference between the traveling speed acquired in the step (a) and a preset reference speed. program.

(8) In the step (a), the traveling state acquisition unit acquires the traveling speed of the movable body as the traveling state,
In the step (b), the virtual moving body is enlarged and displayed as the traveling speed acquired in the step (a) increases, and the virtual moving body is displayed smaller as the traveling speed decreases. 6) or the control program as described in (7) above.

(9) The head-up display device further includes a moving mechanism that changes the position of the intermediate screen in the optical axis direction, and the virtual image projection optical system responds to the position of the intermediate screen changed by the moving mechanism. Project and display a virtual image at a distance of
In the step (a), the traveling state acquisition unit acquires the traveling speed of the movable body as the traveling state,
In the step (b), the virtual image distance of the virtual moving body is shortened as the traveling speed acquired in the step (a) increases, and the virtual image distance is increased and displayed as the traveling speed decreases. ) The control program according to any one of the above (8).

(10) In the step (a), the traveling state acquisition unit acquires, as the traveling state, operation information on the position and the route of the moving body,
In the step (b), based on the operation information acquired in the step (a), the direction of the virtual moving body is changed to an image corresponding to any of straight turn, right turn, or left turn and projected and displayed. 6) The control program according to any one of the above (9).

According to the head-up display device according to the present invention, the traveling-state acquiring unit acquires the traveling state of the moving body equipped with the head-up display device, and an image of a virtual moving body imitating the moving body from the acquired traveling state. Is generated and displayed on the drawing device, and the virtual moving body is projected and displayed forward as a virtual image. By doing this, the user can intuitively grasp the traveling condition of the moving object.

It is a side sectional view showing the state where the head up display device was carried in vehicles. It is the schematic which looked at the vehicle carrying a head-up display apparatus from inner side. It is a schematic diagram which shows the structure of a virtual image display apparatus. It is a block diagram which shows the hardware constitutions of a head-up display apparatus. It is a flowchart which shows the display process which the head-up display apparatus which concerns on 1st Embodiment performs. It is an example of a display of the virtual moving body in step S103. It is an example of a display of the virtual moving body in step S104. It is an example of a display of the virtual moving body in step S105. It is a flowchart which shows the display process which the head-up display apparatus which concerns on 2nd Embodiment performs. It is a perspective view which shows the display state of the virtual moving body which changed virtual image distance in step S203. It is a perspective view which shows the display state of the virtual moving body which changed virtual image distance in step S204. It is an example of a display of the virtual mobile body at the time of night travel. It is a flowchart which shows the display process which the head-up display apparatus which concerns on 3rd Embodiment performs. It is an example of a display of the virtual moving body in step S303. It is an example of a display of the virtual moving body in a modification.

Hereinafter, embodiments of the present invention will be described with reference to the attached drawings. In the description of the drawings, the same elements will be denoted by the same reference symbols, without redundant description. Also, the dimensional proportions of the drawings are exaggerated for the convenience of the description, and may differ from the actual proportions. In the drawings, the vertical direction is the Y direction, the state in which the virtual image display device is mounted on a vehicle, the direction parallel to the traveling direction of the vehicle is the Z direction, and the directions orthogonal to these Y and Z directions are the X direction. The Z direction corresponds to the optical axis direction, and the X and Y directions correspond to the horizontal and vertical directions of the display element.

(Head-up display device)
FIG. 1 and FIG. 2 are schematic views for explaining a use state in which the head-up display device 10 according to the present embodiment is mounted in a vehicle body 811 of a vehicle 800. A user (driver) 900 sits on a driver's seat 816 while gripping the steering wheel 813 to drive (operate) the vehicle 800. As shown in FIGS. 1 and 2, the virtual image display device 20 of the head-up display device 10 directs image information displayed on the display element 21 described later toward the user 900 via the display screen 225 as a virtual image f. Display the projection.

(Virtual image display device)
The configuration other than the display screen 225 of the virtual image display device 20 is installed in the dashboard 814 of the vehicle body 811 so as to be embedded behind the display 815 of the car navigation system 83. The virtual image display device 20 emits display light D1 corresponding to a virtual image including driving related information, a virtual moving body and the like toward the display screen 225 along the optical axis AX. The display screen 225 is a semitransparent concave mirror or a plane mirror. The display screen 225 may function as a combiner or a wind shield, or may combine both functions. Also, members having these functions may be provided separately. The display screen 225 is erected on the dashboard 814 by the support of the lower end, and reflects the display light D1 from the virtual image display device 20 toward the rear side (Z direction) of the vehicle body 811. That is, in the illustrated case, the display screen 225 is an independent type installed separately from the front window 812. The display light D1 reflected by the display screen 225 is guided to the pupil 910 of the user 900 sitting on the driver's seat 816 and an Eyebox (not shown) corresponding to the peripheral position thereof. The Eyebox is set to correspond to the position of the pupil 910 of the user 900 sitting on the driver's seat 816 in a state where the head-up display device 10 is mounted on the vehicle 800. The user 900 can observe the display light D1 reflected by the display screen 225, that is, a virtual image f as a display image separated by a predetermined distance (virtual image distance) as if in front of the vehicle body 811. On the other hand, the user 900 can observe external light transmitted through the display screen 225, that is, a front view, a real image of a car or the like. As a result, the user 900 includes driving related information formed by reflection of the display light D1 on the display screen 225, a virtual moving body, etc., superimposed on the back world image transmitted through the display screen 225, ie, the see-through image. The virtual image f can be observed.

FIG. 3 is a schematic view showing the configuration of the virtual image display device 20. As shown in FIG. As shown in FIG. 3, the virtual image display device 20 includes a display element 21, a virtual image projection optical system 22, a housing 23, and a movement mechanism 25. The components of the virtual image display device 20 other than the display screen 225 are housed in the housing 23.

The display element 21 as a drawing device has a two-dimensional display surface 21 a. The image formed on the display surface 21a is projected as an intermediate image i by the virtual image projection optical system 22, and then enlarged to be converted into a virtual image f to the Eyebox and projected and displayed. At this time, by using the display element 21 capable of two-dimensional display, it is possible to switch the projection image to the intermediate screen 222 at relatively high speed. The display element 21 may be a reflection type element such as DMD (Digital Micromirror Device) or LCOS (Liquid Crystal On Silicon), or may be a transmission type element such as liquid crystal. In particular, when a DMD is used as the display element 21, it is easy to switch images at high speed while maintaining the brightness, which is advantageous for display in which the projection distance (hereinafter referred to as virtual image distance) is changed. The display element 21 operates at a frame rate of 30 fps or more, preferably 90 fps. Thus, by cooperating with the operation of the moving mechanism 25 described later, it is easy to make it appear that a plurality of virtual images f are simultaneously displayed at different virtual image distances.

The virtual image projection optical system 22 includes a lens group 221, an intermediate screen 222, mirrors 223 and 224, and a display screen 225. The virtual image projection optical system 22 is configured by at least one mirror, but includes two

mirrors

223 and 224 in the illustrated example.

The lens group 221 is a fixed focus lens system, and includes a plurality of lenses (not shown). The lens group 221 forms an image formed on the display surface 21 a of the display element 21 as an intermediate image i on the intermediate screen 222 and magnifies and projects it at an appropriate magnification (the intermediate image i itself is displayed on the display element 21 Operation is a premise). The lens group 221 has a stop 221 a disposed closest to the intermediate screen 222 of the lens group 221. By arranging the stop 221 a in this manner, setting and adjustment of the f-number on the intermediate screen 222 side of the lens group 221 becomes relatively easy.

The intermediate screen 222 is a sheet having a diffusion function for controlling the light distribution angle to a desired angle, and the imaging position by the lens group 221 (that is, the imaging planned position of the intermediate image i or the focal depth in the vicinity thereof) Form an intermediate image i). As the intermediate screen 222, for example, a ground glass, a lens diffusion plate, a micro lens array or the like can be used.

The moving mechanism 25 is connected to a holder that holds the upper and lower end portions of the intermediate screen 222, and moves the position of the intermediate image i in the optical axis AX direction by translating the intermediate screen 222 in the optical axis AX direction. be able to. In addition, if the display of the display element 21 is not working, although the intermediate image i as a display image is not necessarily formed, in the following, it is assumed that the intermediate image i is formed even if it is not actually formed. The position may also be referred to as the position of the intermediate image.

(Overall configuration of head-up display device)
FIG. 4 is a block diagram for explaining the hardware configuration of the head-up display device 10. As shown in FIG. The head-up display device 10 includes, in addition to the virtual image display device 20 described above, a main control unit 60, a display control unit 70, a driver detection unit 71, an environment monitoring unit 72, and a traveling condition acquisition unit 73. The main control unit 60 includes a CPU (Central Processing Unit) and a memory, and performs various controls by the CPU executing a control program stored in the memory. The main control unit 60 controls the entire head-up display device 10 to two-dimensionally or three-dimensionally display a virtual moving body imitating a moving body (own vehicle) mounted according to the traveling situation as a virtual image. Do. In addition, it may be displayed together with a virtual image corresponding to an object such as a detected oncoming vehicle or a passerby. A display example of a virtual image related to a virtual moving body will be described later.

The display control unit 70 includes a CPU and a memory, and performs control related to virtual image display processing by the CPU executing a control program stored in the memory. Further, the memory stores image data as a base for a virtual moving body described later, and a reference speed set, for example, 50 km / h corresponding to the legal speed of the road. Further, as the image data to be a base of the virtual moving body, plural types of image data may be stored in advance according to the type of the vehicle (large truck, ordinary passenger car, etc.) to be mounted.

The stored reference speed may be changed by the user 900 as appropriate. Alternatively, the reference speed may be sequentially updated according to the legal speed of the road currently traveled, which is obtained from the car navigation system 83. The display control unit 70 creates image data on the virtual mobile body in a mode according to the traveling situation, and causes the display element 21 to display the created image data. The display control unit 70 operates the virtual image display device 20 under the control of the main control unit 60, and travels a virtual image f of a virtual moving object or the like behind the display screen 225 at a predetermined virtual image distance (also referred to as projection distance). It changes according to the information of the traveling condition acquired from the condition acquisition part 73, and it projects and displays. Further, when changing the display of the virtual moving body, the virtual image distance may be changed and displayed by moving the position of the intermediate screen 222 in the direction of the optical axis AX by the moving mechanism 25 at the same time.

The driver detection unit 71 detects the presence of the user 900 in the vehicle 800 and the viewpoint position, and includes an internal camera 71a directed to the driver's seat 816, an image processing unit 71b for the driver's seat, and a determination unit 71c. . The internal camera 71a is installed on the dashboard 814 in the vehicle body 811 so as to face the driver's seat 816 (see FIG. 2), and takes images of the head of the user 900 who sits on the driver's seat 816 and its surroundings Do. The driver's seat image processing unit 71b performs various types of image processing such as brightness correction on the image captured by the internal camera 71a to facilitate the processing in the determination unit 71c. The determination unit 71c detects the head or eyes (pupil 910) of the user 900 by extracting or cutting out an object from the driver's seat image processed by the driver's seat image processing unit 71b. Further, the determination unit 71c calculates the spatial position (as a result, the direction of the line of sight) of the eye of the user 900 together with the presence or absence of the head of the user 900 in the vehicle body 811 from the depth information attached to the driver's seat image.

The display control unit 70 receives, from the driver detection unit 71 via the main control unit 60, a detection output regarding the presence of the user 900 and the position of the eyes. This enables automatic start and stop of the projection of the virtual image f by the virtual image display device 20. Also, the virtual image f can be projected only in the direction of the line of sight of the user 900. Furthermore, it is also possible to perform projection with emphasis, such as brightening or blinking, of only the virtual image f in the direction of the line of sight of the user 900.

The environment monitoring unit 72 identifies an object (actual object) such as a car, a bicycle, or a pedestrian approaching in front, and determines the distance to the object. The environment monitoring unit 72 includes an external camera 72a, an external image processing unit 72b, and a determination unit 72c. The external camera 72a is installed at an appropriate position inside or outside the vehicle body 811 and captures an external image such as the front or side of the user 900 or the vehicle 800. The external image processing unit 72b performs various image processing such as brightness correction on the image captured by the external camera 72a, and facilitates the processing in the determination unit 72c. The determination unit 72c detects the presence or absence of an object such as a car, a bicycle, or a pedestrian by extracting or cutting out an object from the external image processed by the external image processing unit 72b, and depth information attached to the external image The spatial position of the object in front of the vehicle 800 is calculated from

The internal camera 71a and the external camera 72a include, for example, a compound eye type three-dimensional camera. That is, both

cameras

71a and 72a are camera elements in which a lens for imaging, a complementary metal-oxide semiconductor (CMOS), and other imaging elements are arranged in a matrix, and for imaging elements The drive circuits of A plurality of camera elements constituting each

camera

71a, 72a are adapted to focus on different positions in the depth direction, for example, or to be able to detect relative parallax, and obtained from each camera element By analyzing the state of the image (focus state, position of object, etc.), the distance to each region or object in the image is determined.

A combination of a two-dimensional camera and an infrared distance sensor may be used instead of or in addition to the compound-

eye type cameras

71a and 72a as described above. Alternatively, LIDAR (Light Detection And Ranging) technology may be used. As a result, distance information in the depth direction can be obtained for each part (area or object) in the detection area in front of the vehicle 800.

The traveling condition acquisition unit 73 is communicably connected or electrically connected to the devices such as the speedometer 82 and the car navigation system 83, and acquires the traveling condition of the vehicle 800 described below from these devices.

The speedometer 82 is mounted on the vehicle 800 and detects the traveling speed of the vehicle 800. The traveling state acquisition unit 73 acquires speed information on the traveling speed detected by the speedometer 82 as the traveling state. The car navigation system 83 outputs position information of the vehicle 800 obtained from a GPS (Global Positioning System), and route information according to the position information and a destination designated by the user. The traveling state acquisition unit 73 acquires route information and position information from the car navigation system 83 as the traveling state. At this time, information on the speed limit of the road (legal speed) according to the traveling position may be acquired from the car navigation system 83. In addition, you may make the traveling condition acquisition part 73 itself be equipped with the function of a speedometer and a car navigation.

First Embodiment
Hereinafter, display processing performed by the display control unit 70 of the head-up display device 10 according to the first embodiment will be described with reference to FIGS. 5 to 8. FIG. 5 is a flowchart showing display processing, and FIGS. 6 to 8 are display examples of the virtual moving body f1. These display examples are schematic views showing a state where the vehicle 800 is traveling on a straight road. In the first embodiment described below, the display size of the virtual moving body f1 displayed two-dimensionally is changed according to the traveling speed of the moving body.

(Step S101)
The display control unit 70 acquires the current traveling speed of the vehicle 800 (mobile body) on which the head-up display device 10 is mounted through the traveling state acquisition unit 73.

(Step S102)
The display control unit 70 compares the traveling speed acquired in step S101 with the reference speed stored in the memory. If the traveling speed is the same as the reference speed, the process proceeds to step S103. On the other hand, if the speed is higher than the reference speed, the process proceeds to step S104, and if the speed is lower than the reference speed, the process proceeds to step S105.

(Step S103)
The display control unit 70 controls the virtual image display device 20 to project and display the virtual moving body f1 created in the standard size. FIG. 6 is a display example of the virtual moving body f1 projected and displayed in this step S103. In FIG. 6 (as well as in FIGS. 7 and 8), except for the virtual moving body f1, the see-through image, that is, the real thing. The virtual mobile body f1 is a virtual image imitating the back side (rear side) of the vehicle 800, and is displayed as a leading vehicle of the vehicle 800 or a leading vehicle. The size of the virtual moving body f1 in this standard size is a size such that an actual vehicle is traveling 50 m ahead of the host vehicle if the distance between the host vehicle and the preceding vehicle is appropriate according to the reference speed. Create an image of the virtual moving body, and project and display the created image as a virtual moving body f1 of a virtual image.

(Step S104)
The display control unit 70 controls the virtual image display device 20 to project and display the virtual moving body f1 created in a size larger than the standard size. FIG. 7 is a display example of the virtual moving body f1 projected and displayed in this step S104. The display control unit 70 projects and displays the virtual mobile body f1 in a size larger than the standard size. The size of the virtual mobile body f1 at this time is such that the vehicle ahead travels at an inter-vehicle distance shorter than the appropriate inter-vehicle distance. As a result, the user 900 (driver) intuitively feels as if the traveling speed is high and if it is approaching the preceding vehicle too much.

(Step S105)
The display control unit 70 controls the virtual image display device 20 to project and display the virtual moving body f1 created in a size smaller than the standard size. FIG. 8 is a display example of the virtual moving body f1 projected and displayed in this step S105. The display control unit 70 projects and displays the virtual mobile body f1 at a size smaller than the standard size. The size of the virtual mobile body f1 at this time is such that the vehicle ahead travels at an inter-vehicle distance longer than the appropriate inter-vehicle distance. As a result, the user 900 (driver) intuitively feels as if he is slow and if he / she is too far from the preceding vehicle.

As described above, in the first embodiment, the display size of the virtual moving body f1 is changed according to the traveling condition, that is, the traveling speed. More specifically, when the traveling speed of the vehicle 800 driven by the user 900 is faster than the standard speed, the size of the virtual mobile body f1 is increased. As a result, the user 900 may want to release the accelerator to lower the traveling speed. When the speed is slower than the standard speed, the size is reduced. This makes it possible for the user to intuitively understand that the traveling speed has unintentionally decreased. By doing this, the user can intuitively grasp whether the traveling speed of the moving object is slower or faster than the standard speed.

Note that the display size of the virtual moving body f1 may be determined (for example, in proportion) according to the difference value between the traveling speed and the reference speed. Furthermore, the standard size may be set appropriately by the user. In addition, when the traveling speed becomes too fast, the virtual moving body f1 may blink and be displayed, or a warning character of a virtual image may be displayed together. Furthermore, when the traveling speed becomes too slow, such as when stopping at a red light or a road shoulder, the virtual moving body f1 may not be displayed.

In the display examples shown in FIGS. 6 to 8, the size of the virtual mobile body f1 is changed, and the display position in the height direction (Y direction) of the virtual mobile body f1 is also shifted. For example, in FIG. 7, it is shifted downward, and in FIG. 8, it is shifted upward. The shift amount may be a predetermined amount, or may be adjusted according to the sitting height of the user 900 (the height of the pupil 910) or the shape of the road ahead detected by the environment monitoring unit 72.

Second Embodiment
The display processing performed by the display control unit 70 of the head-up display device 10 according to the second embodiment will be described below with reference to FIGS. 9 and 10. FIG. 9 is a flowchart showing display processing, and FIG. 10 and FIG. 11 are perspective views showing the display state of the virtual mobile body with the virtual image distance changed. In the first embodiment described above, the display size of the virtual moving body f1 is changed according to the traveling speed of the moving body. In the second embodiment, the virtual image distance is changed according to the traveling speed of the moving object.

(Steps S202 and S203)
By the same processing as steps S101 and S102 described above, the display control unit 70 proceeds the processing to step S203 if the acquired traveling speed is the same as the reference speed. On the other hand, if it is faster than the reference speed, the process proceeds to step S204, and if it is slower than the reference speed, the process proceeds to step S205.

(Steps S203 to S205)
The display control unit 70 controls the moving mechanism 25 of the virtual image display device 20 to set the virtual image distance of the virtual moving body f1 to an intermediate distance in step S203, and to a short distance in step S204, and in step S205. Set the distance and project. In addition, the display control unit 70 sets the size of the virtual moving body f1 to standard, large, and small sizes in steps S203 to S205, respectively.

The virtual mobile body f1 whose distance has been changed will be described with reference to FIG. In FIG. 10, a vehicle 800 (own vehicle) and an oncoming vehicle 850 are real. The head-up display device 10 is mounted on the vehicle 800, and the user 900 is driving. Further, the oncoming vehicle 850 can be visually recognized as a see-through image. The area of the frames F1 to F3 corresponds to the display area of the display element 21. The frame F1 is projected and displayed when the intermediate screen 222 is positioned closer to the mirror 223 and the virtual image distance is set to a short distance. It is a virtual image position. The frame F3 is a virtual image position projected and displayed when the intermediate screen 222 is positioned far from the mirror 223 and the virtual image distance is set to a long distance. The frame F2 is a virtual image position projected and displayed when the intermediate screen 222 is positioned at a position between them.

In FIG. 10, in correspondence with step S203, the virtual moving body f1 imitating the vehicle 800 is projected and displayed in a standard size in the frame F2 having an intermediate virtual image distance. On the other hand, in step S204, the virtual moving object f1 is projected and displayed in the frame F1 having a short virtual image distance, and in step S205, the virtual moving object f1 is projected and displayed in the frame F3 having a long virtual image distance. FIG. 11 corresponds to step S204, and projects and displays the virtual moving body f1 with a large size in the frame F1 having a short virtual image distance. Note that, in FIG. 11, the virtual moving body f1 when displayed in the frames F2 and F3 is indicated by a broken line.

As described above, in the second embodiment, the virtual image distance and the size of the virtual moving body f1 are changed according to the traveling condition, that is, the traveling speed. More specifically, when the traveling speed of the vehicle 800 driven by the user 900 is faster than the standard speed, the virtual image distance of the virtual moving body f1 is shortened and the size is increased. As a result, the user 900 wants to release the accelerator to lower the traveling speed. Also, when the velocity is lower than the standard velocity, the virtual image distance is increased to make the size small. This makes it possible to depress the accelerator to increase the traveling speed. By doing this, also in the second embodiment, the same effect as that of the first embodiment can be obtained. Furthermore, in the second embodiment, by changing the virtual image distance, it is possible to further realize that the virtual moving body f1 approaches or moves away, and the traveling situation can be grasped more intuitively.

(Modification)
In the second embodiment, the virtual image distance and the size of the virtual moving body f1 are simultaneously changed according to the traveling speed. However, the present invention is not limited thereto, and only the virtual image distance may be changed. .

Further, in FIG. 11, a three-dimensional display described below is performed, and at that time, a virtual image f2 as a square frame shaped mark of a virtual image for alerting the user 900 to the oncoming opposing vehicle 850. Is given at a predetermined virtual image distance.

As described above, the environment monitoring unit 72 detects an object such as the oncoming oncoming vehicle 850 present on the road in the detection area in front of the vehicle 800. Then, a virtual image f2 for calling attention is formed in the frame F3 of the virtual image distance (long distance) closest to the distance to the oncoming vehicle 850 so as to surround the oncoming vehicle 850. By moving the position of the intermediate screen 222 between positions corresponding to the frames F1 and F3 at a speed corresponding to the display frame rate of the display element 21 periodically at high speed, virtual images f1,. Display f2 alternately. As a result, the user 900 visually recognizes as if virtual images f1 and f2 of different virtual image distances are simultaneously displayed (three-dimensional display).

FIG. 12 shows an application example of the present embodiment when traveling at night. At such nighttime, there are few other vehicles (oncoming vehicles 850 etc.) generally traveling. In addition, the user's visibility of surrounding scenery is reduced, and the sense of speed is dull. From such a situation, particularly at night, the present embodiment can be suitably used. In addition, when traveling at night, the display control unit 70 may change the brightness (brightness) or color of the virtual moving body f1. In this case, the display control unit 70 can recognize that it is nighttime from the time information by the internal timer and the signal indicating the ON / OFF state of the headlamp of the vehicle 800.

On the other hand, in the daytime, there are many other vehicles, so there are many real see-through images, and when the virtual moving object f1 is displayed, it may overlap with the see-through image, and the visibility may be reduced. In such a case, when the object identified by the environment monitoring unit 72 is present at a position overlapping the virtual moving body f1, projection display of the virtual moving body f1 may be temporarily stopped. . In addition, when the frequency with which such an object exists is high, the display control unit 70 may automatically switch to the stop mode in which the display of the virtual mobile object f1 is stopped for a predetermined period. The transition to the stop mode may be performed when the display control unit 70 recognizes that it is daytime, or may be performed by an operation instruction from the user 900.

Third Embodiment
The display processing performed by the display control unit 70 of the head-up display device 10 according to the third embodiment will be described below with reference to FIGS. 13 and 14. FIG. 13 is a flowchart showing display processing, and FIG. 14 is a display example of a virtual mobile body whose display mode is changed. In the first and second embodiments described above, the traveling speed is used as the traveling state of the vehicle 800 (moving body), and the display mode of the virtual moving body is changed according to the traveling speed. In the third embodiment, as the traveling condition of the moving object, the display mode of the virtual moving object is changed using the operation information of the moving object.

(Step S301)
The display control unit 70 acquires, from the car navigation system 83, the current traveling position of the vehicle 800 (mobile body) on which the head-up display device 10 is mounted and travel information on a route through the traveling state acquisition unit 73.

(Step S302)
The display control unit 70 determines whether it is time to change the traveling direction based on the operation information acquired in step S301. If the display control unit 70 does not change the traveling direction (end), the display control unit 70 advances the process to step S303.

(Step S303)
The display control unit 70 changes and displays the direction of the virtual mobile body to an image corresponding to either straight ahead, right turn, or left turn according to the traveling direction. For example, in the case of a right turn, the display control unit 70 intuitively recognizes to the user that a right turn can be made by changing or blinking the color of the tail lamp or blinker on the right side of the virtual mobile body f1. Change the image to the way you can. Further, at this time, a mark may be attached to the periphery of a tail lamp or the like to call attention. Then, the display control unit 70 projects and displays the changed image as a virtual moving body f1 of a virtual image. FIG. 14 is a display example of the virtual moving body f1 projected and displayed in this step S303. In the figure, the display control unit 70 changes the color of the tail lamp 801 on the right side and blinks it in response to recognizing from the operation information such as a route that it has approached an intersection turning right. When the intersection is passed after making a right turn or the like after that, it returns to the original straight moving virtual moving object f1 (FIG. 6 and the like).

FIG. 15 is a modified example, and is a display example in which a plurality of virtual moving objects f11, f12 and f13 are displayed substantially simultaneously in three dimensions. A virtual moving body f1 similar to that shown in FIG. 14 is projected and displayed on a short-distance frame F1. In the medium distance frame F2, a virtual moving object f12 representing a state of moving slightly further in time and distance than the virtual moving object f1, that is, a state of having moved closer to the intersection is displayed. In the long-distance frame F3, a virtual mobile body f13 is projected and displayed, which indicates a state in which the intersection further ahead is reached and a right turn is started.

When approaching an intersection, the environment monitoring unit 72 detects and identifies the distance to the actual intersection and the shape information of the road, reflects the result, and displays the display positions of the virtual moving objects f1, f12 and f13. You may make it adjust.

In such a third embodiment and its modification, the image of the virtual moving body f1 is changed according to the driving operation to be performed by the vehicle 800 according to the operation state, and the changed image is projected as a virtual image. indicate. Thereby, the user can intuitively recognize the driving operation to be performed from now on.

(Other modifications)
The configuration of the head-up display device 10 described above is the main configuration described in describing the features of the above-described embodiment, and is not limited to the above-described configuration, and various modifications may be made within the scope of the claims. Can. Moreover, the configuration provided in a general virtual image display device or head-up display device is not excluded.

For example, although the head up display device 10 was mounted in vehicles, such as a car, showed the example which displays the virtual mobile which imitated the vehicles, but it is not restricted to this. Any moving body other than a vehicle may be used as long as it moves by the power of a motor, an engine or the like. In such a case, it is preferable to create an image of the virtual moving body and to project and display the created image in a display mode that imitates the shape of the mounted moving body so that it can be intuitively recognized.

Also, the virtual image display device 20 shows an example in which the virtual image distance is changed substantially simultaneously at three levels of near distance and long distance, but the present invention is not limited to this. Virtual image distance can be changed substantially simultaneously in multiple steps. It may be configured. Furthermore, in each embodiment, the position at which the virtual mobile body f1 is projected and displayed may be changed according to the shape and position of the road ahead detected by the environment monitoring unit 72. For example, in the case of a curve or an uphill, the projection display position of the virtual mobile body f1 is changed according to the shape information of the road.

The means and method for performing various processes in the head-up display device according to the above-described embodiment can be realized by either a dedicated hardware circuit or a programmed computer. The program may be provided by a computer-readable recording medium such as a USB memory or a DVD (Digital Versatile Disc) -ROM, or may be provided online via a network such as the Internet. In this case, a control program recorded on a computer readable recording medium is usually transferred to and stored in a storage unit such as a hard disk. Also, the program may be provided as a single application software or may be incorporated into the software of the device as a head-up display device.

This application is based on Japanese Patent Application (Japanese Patent Application No. 2017-251058) filed on Dec. 27, 2017, the disclosure of which is incorporated by reference in its entirety.

10 head-up display device 20 virtual image display device 21 display element 21a display surface 22 virtual image projection optical system 221 lens group 222

intermediate screen

223, 224 mirror 225 display screen 23 housing 25 moving mechanism 60 main control unit 70 display control unit 71 driver detection Part 72 Environment monitoring part 73 Driving condition acquisition part 82 Speedometer 83 Car navigation system 800 Vehicle (own vehicle)
850 Oncoming vehicle 900 User 910 Eye pupil AX Optical axis D1 Display light F1, F2, F3 Frame f, f1, f2, f12, f13 Virtual image i Intermediate image

Claims

A head-up display device mounted on a traveling moving body,
A drawing device for displaying an image based on the image data;
A virtual image projection optical system including an intermediate screen, forming an image displayed by the drawing device on the intermediate screen, converting the formed intermediate image into a virtual image, and projecting and displaying the virtual image;
A traveling condition acquisition unit that acquires a traveling condition of the moving body;
According to the traveling condition acquired by the traveling condition acquisition unit, an image of a virtual mobile object imitating the mobile object is created and displayed on the drawing device, thereby making the virtual mobile object a virtual image of the mobile object. And a display control unit configured to project and display on the front side.
The traveling state acquisition unit acquires a traveling speed of the moving body as the traveling state,
The head-up display device according to claim 1, wherein the display control unit changes the virtual moving body in accordance with a difference between the traveling speed and a preset reference speed.
The traveling state acquisition unit acquires a traveling speed of the moving body as the traveling state.
The display control unit according to claim 1 or 2, wherein the display control unit causes the virtual moving body to be displayed larger as the traveling speed increases, and causes the virtual moving body to be displayed smaller as the traveling speed decreases. Head-up display device.
And a moving mechanism for changing the position of the intermediate screen in the optical axis direction,
The virtual image projection optical system projects and displays a virtual image at a virtual image distance according to the position of the intermediate screen changed by the moving mechanism,
The traveling state acquisition unit acquires a traveling speed of the moving body as the traveling state.
4. The display control unit according to claim 1, wherein the display control unit shortens the virtual image distance of the virtual moving body as the traveling speed increases, and lengthens and displays the virtual image distance as the traveling speed decreases. Head-up display device according to
The traveling state acquisition unit acquires, as the traveling state, operation information on the position and route of the mobile body from a car navigation system,
The display control unit changes the direction of the virtual mobile body to an image corresponding to any one of a straight turn, a right turn, and a left turn based on the operation information acquired by the traveling state acquisition unit, and performs projection display. The head-up display device according to any one of claims 1 to 4.
A head-up display device mounted on a moving body, including an intermediate screen, forming an image displayed by a drawing device on the intermediate screen, converting the formed intermediate image into a virtual image, and projecting and displaying the image A control program to be executed by a computer for controlling a head-up display device including a virtual image projection optical system and a traveling condition acquisition unit for acquiring the traveling condition of the moving object,
Acquiring the traveling condition of the moving body by the traveling condition acquisition unit;
According to the traveling condition acquired in step (a), an image of a virtual moving body imitating the moving body is created and displayed on the drawing device, so that the virtual moving body serves as a virtual image in front of the moving body And (b) projecting and displaying on
A control program for causing the computer to execute.
In the step (a), the traveling state acquisition unit acquires the traveling speed of the movable body as the traveling state,
The control program according to claim 6, wherein in the step (b), the virtual image of the virtual moving body is changed according to the difference between the traveling speed acquired in the step (a) and a reference speed set in advance. .
In the step (a), the traveling state acquisition unit acquires the traveling speed of the movable body as the traveling state,
In the step (b), the virtual moving body is enlarged and displayed as the traveling speed acquired in the step (a) increases, and the virtual moving body is displayed smaller as the traveling speed decreases. The control program according to claim 6 or claim 7.
The head-up display device further includes a moving mechanism for changing the position of the intermediate screen in the optical axis direction, and the virtual image projection optical system is a virtual image distance according to the position of the intermediate screen changed by the moving mechanism. To project a virtual image with
In the step (a), the traveling state acquisition unit acquires the traveling speed of the movable body as the traveling state,
In the step (b), the virtual image distance of the virtual moving body is shortened as the traveling speed acquired in the step (a) increases, and the virtual image distance is increased and displayed as the traveling speed decreases. The control program according to any one of claims 8 to 10.
In the step (a), the traveling state acquisition unit acquires operation information on the position and route of the moving body as the traveling state.
In the step (b), based on the operation information acquired in the step (a), the direction of the virtual moving body is changed to an image corresponding to any of straight turn, right turn, or left turn and projected and displayed. The control program according to any one of claims 6 to 9.