WO2019138970A1 - Procédé et dispositif de mesure de distance de projection - Google Patents

Procédé et dispositif de mesure de distance de projection Download PDF

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Publication number
WO2019138970A1
WO2019138970A1 PCT/JP2019/000089 JP2019000089W WO2019138970A1 WO 2019138970 A1 WO2019138970 A1 WO 2019138970A1 JP 2019000089 W JP2019000089 W JP 2019000089W WO 2019138970 A1 WO2019138970 A1 WO 2019138970A1
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WIPO (PCT)
Prior art keywords
image
display
projection
target
projection distance
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PCT/JP2019/000089
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English (en)
Japanese (ja)
Inventor
橋村淳司
Original Assignee
コニカミノルタ株式会社
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Application filed by コニカミノルタ株式会社 filed Critical コニカミノルタ株式会社
Priority to JP2019564670A priority Critical patent/JPWO2019138970A1/ja
Publication of WO2019138970A1 publication Critical patent/WO2019138970A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT 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
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles

Definitions

  • the present invention relates to a projection distance measuring method and a projection distance measuring device applied to a head-up display device in which the projection position of a virtual image is variable.
  • a conventional head-up display (hereinafter referred to as HUD (Head-Up Display)) device generally generates a virtual image at a certain distance from the driver, and the display content is limited to the vehicle speed, car navigation information, etc. It was being done.
  • HUD Head-Up Display
  • the purpose of mounting the HUD in the car is to support safer driving by minimizing the driver's eye movement, but in the sense of safe driving support, only the above display contents
  • a system that detects vehicles in front, pedestrians, obstacles, etc. with a camera or other sensors and lets the driver detect dangers in advance through the HUD to prevent accidents in advance is better. preferable.
  • a relay optical system is disposed between the display element and the imaging optical system, and an intermediate image is formed by the relay optical system, and an optical element constituting the relay optical system It is known to change the position of the intermediate image by changing the position of and change the projection distance of the virtual image (see Patent Document 2).
  • An object of the present invention is to provide a projection distance measuring method and a projection distance measuring device as a premise for accurately setting a projection distance of a virtual image.
  • a projection distance measuring method reflecting one aspect of the present invention displays a virtual image by a head-up display device over a display screen, and at a predetermined position in a display field of view.
  • the image acquisition unit is arranged to photograph the display field of view
  • the head-up display device moves the image acquisition unit while displaying a predetermined display image so as to overlap the target so as to display the display field of view.
  • the projection distance of the virtual image projected by the head-up display device is measured from the degree of positional deviation between the target obtained by photographing and the predetermined display image.
  • a projection distance measuring device reflecting one aspect of the present invention arranges a target at a predetermined position in a display field of view and overlaps the target over a display screen.
  • Projection distance measuring device used for a head-up display device in a state in which a predetermined display image is displayed, the image acquisition unit capturing an image of the display field, a moving mechanism moving the image acquiring unit, and a moving mechanism
  • the projection distance of the virtual image projected by the head-up display device is calculated from the degree of positional deviation between the target obtained by photographing the display field by the image acquisition unit and the predetermined display image while moving the image acquisition unit by And a control unit.
  • FIG. 3A is a side sectional view showing an application example in which a head-up display device to be measured by a projection distance measuring device is mounted on a vehicle body
  • FIG. 3B is a front view from the inside of the vehicle explaining the head-up display device.
  • FIGS. 4A and 4B are a partially broken plan view and a partially broken side view illustrating the structure of a diffusion unit incorporating an intermediate screen
  • FIG. 4C is a concept illustrating movement of a functional area with rotation of the intermediate screen.
  • the image display apparatus 100 to which the projection distance measuring method of the embodiment is applied is mounted on, for example, a car, and includes a projection unit 10 and a display screen 20.
  • the projection unit 10 includes a display device 11, a main optical system 13 which is a virtual image type enlargement imaging system, a display control unit 18 which controls operations of the display device 11 and the like, a display device 11 and a main optical system 13.
  • a housing 12 for housing the display control unit 18 and the like.
  • the display screen 20 is also called a combiner and is a semitransparent concave mirror or a plane mirror. Among these, the combination of the main body optical system 13 and the display screen 20 constitutes a display optical system 30.
  • the image display device 100 shown in FIG. 1 uses a combiner as the display screen 20, the display screen 20 is not attached to the device as in the case of incorporating the display screen into the windshield of a car, for example. In some cases. In such a case, an entire windshield, a member obtained by cutting out a portion to be displayed by the windshield, or another alternative display screen as a substitute is prepared, and a member corresponding to the entire windshield or a part of the windshield Alternatively, the alternative display screen may be arranged as a display screen with respect to the projection unit 10 to perform the measurement.
  • the projection distance measurement device 50 when measuring the projection distance of the projection image (virtual image) IM with respect to the image display device 100 or a head-up display device including the same, the projection distance measurement device 50 is used.
  • the projection distance measuring device 50 is a camera for distance measurement 51 which is an image acquisition unit disposed at the position of the eye box EB which enables observation of the projected image IM, and the distance measurement camera 51 in a horizontal direction perpendicular to the optical axis AX.
  • Projection image projected by the head-up display device including the image display device 100 based on the information obtained by operating the moving mechanism 52 for moving in the X direction, the distance measuring camera 51, and the moving mechanism 52 )
  • the control unit 53 that calculates the projection distance of the IM.
  • the distance measurement camera (image acquisition unit) 51 captures the display field of view through the display screen 20, and is preferably disposed at a distance from the display screen 20 to the pupil position of the display optical system 30. In this case, the range in which a predetermined display image FM to be described later can be captured becomes large, and the distance measurement camera 51 can be moved widely, which facilitates measurement.
  • the distance measurement camera (image acquisition unit) 51 captures a predetermined display image FM for measurement formed by the image display device 100, and at that time, the distance display camera (image acquisition unit) 51 is disposed at a predetermined position within the display field of view through the display screen 20. It also takes pictures of the target (not shown).
  • the display image FM for measurement is a projection image (virtual image) IM projected only at the time of measurement, and is a mark that facilitates measurement of the projection distance.
  • the target (not shown) is an object to be a mark, and the details will be described later.
  • FIGS. 3A and 3B are conceptual side sectional views and a front view for explaining an application example of the image display apparatus 100 shown in FIG.
  • the image display device 100 is mounted in the vehicle body 2 of the automobile.
  • the image display apparatus 100 displays a virtual image of image information displayed on a display device 11 described later in the projection unit 10 via the display screen 20 toward the driver VD who is an observer.
  • the projection unit 10 of the image display apparatus 100 is installed in the dashboard 4 of the vehicle body 2 and embedded behind the display 5 and is display light which is image light corresponding to an image including driving related information and the like. Eject DL toward display screen 20.
  • the display screen 20 is erected on the dashboard 4 by the support of the lower end, and reflects the display light (image light) DL from the projection unit 10 toward the rear of the vehicle body 2. That is, in the illustrated case, the display screen 20 is an independent type installed separately from the front window 8.
  • the display light DL reflected by the display screen 20 is guided to the pupil PU of the driver VD seated in the driver's seat 6 and the eyebox EB corresponding to the peripheral position thereof.
  • the driver VD can observe the display light DL reflected by the display screen 20, that is, the projected image IM as a virtual image in front of the vehicle body 2.
  • the driver VD can observe external light transmitted through the display screen 20, that is, a front view, a real image of a car or the like.
  • the driver VD who is the observer includes related information such as driving related information formed by the reflection of the display light DL on the display screen 20, superimposed on the external image or the see-through image behind the display screen 20.
  • the projected image (virtual image) IM can be observed.
  • the display screen 20 is configured separately from the front window 8, as described above, using the front window 8 which is a windshield as a display screen, projection is performed on the display range set in the front window 8 By doing this, the driver VD may be configured to observe the projection image IM.
  • the reflection area can be secured by changing the reflectance of a partial area of the glass of the front window 8 by coating or the like.
  • the reflection angle at the front window 8 is, for example, about 60 degrees, the reflectance is secured to about 15%, and it can be used as a reflective surface having transparency even without providing a coat. Besides these, it is also possible to provide a display screen in a configuration which is sandwiched in the glass of the front window 8.
  • the display device 11 is a display element having a two-dimensional display surface 11a.
  • the display device 11 may be, for example, a self-emission display device, but may be a light modulation display device illuminated by a light source.
  • An image formed on the display surface 11 a of the display device (display element) 11 is enlarged by the imaging optical system (first projection optical system) 15 and projected on the spiral intermediate screen 19 provided in the diffusion section 16. Ru.
  • the display device 11 capable of two-dimensional display switching of the projection image on the intermediate screen 19, that is, switching of the projection image IM displayed as a virtual image through the display screen 20 can be made relatively fast.
  • the display device 11 can be an element such as an organic EL when it is a self-emission type, and a reflection type element such as a DMD (Digital Mirror Device) or LCOS (Liquid crystal on silicon) when it is a light modulation type. Also, it may be a transmission type element such as liquid crystal.
  • a reflection type element such as a DMD (Digital Mirror Device) or LCOS (Liquid crystal on silicon) when it is a light modulation type.
  • it may be a transmission type element such as liquid crystal.
  • an organic EL element, DMD, LCOS or the like it is easy to switch images at high speed while maintaining the brightness (including intermittent display at high speed), changing the virtual image distance or projection distance It is advantageous to display.
  • the display device 11 operates at a frame rate of 30 fps or more, more preferably 60 fps or more with respect to each projection distance.
  • the projected images (virtual images) IM appear to the driver (observer) VD to be simultaneously displayed at different projected distances.
  • the organic EL element, DMD, LCOS or the like is a candidate for the display device 11.
  • the projected image IM can be, for example, a marker such as a frame surrounding an object in front of the eye.
  • the main body optical system 13 is an imaging optical system 15 which is a first projection optical system that forms an intermediate image TI obtained by enlarging the image formed on the display device 11, and a second projection optical system that converts the intermediate image TI into a virtual image. And a diffusion unit 16 disposed between the two optical systems 15 and 17 for projection.
  • the diffusion unit 16 is disposed at a projection position or an imaging position (that is, an imaging planned position of an intermediate image or in the vicinity thereof) by the imaging optical system (first projection optical system) 15, and includes the rotating body 16a and the hollow frame 16b. , And is driven by a rotational drive unit 64, which is a screen drive unit, to rotate, for example, around a reference axis SX at a constant speed.
  • a rotational drive unit 64 which is a screen drive unit, to rotate, for example, around a reference axis SX at a constant speed.
  • FIG. 4A is a front view illustrating the diffusion unit 16
  • FIG. 4B is a side cross-sectional view illustrating the diffusion unit 16.
  • the diffusion portion 16 has a spiral rotary body 16a having an outline close to a disc as a whole and a cylindrical hollow frame 16b accommodating the rotary body 16a.
  • the rotating body 16a has a central portion 16c and an outer peripheral optical portion 16p.
  • One surface 16f formed on the outer peripheral optical portion 16p of the rotating body 16a is formed on a smooth surface or an optical surface, and an intermediate screen 19 is formed on the entire surface of the surface 16f.
  • the surface 16 f of the rotating body 16 a functions as a three-dimensional shape portion 116.
  • the intermediate screen 19 is a diffusion plate in which the light distribution angle is controlled to a desired angle, and the diffusion degree (the diffusion angle of the half value intensity of the diffusion distribution) is, for example, 20 ° or more.
  • the intermediate screen 19 can be a sheet to be attached to the rotating body 16a, but may be a fine concavo-convex pattern formed on the surface of the rotating body 16a.
  • the intermediate screen 19 may be formed so as to be embedded inside the rotating body 16a.
  • the intermediate screen 19 forms an intermediate image TI by diffusing the incident display light DL (see FIG. 1 and the like).
  • the other surface 16s formed on the outer peripheral optical portion 16p of the rotating body 16a is formed on a smooth surface or an optical surface.
  • the rotating body 16 a is a light transmitting helical member, and the pair of surfaces 16 f and 16 s are helical surfaces having the reference axis SX as a helical axis.
  • the intermediate screen 19 formed on the one surface 16f is also formed along the continuous spiral surface.
  • the rotating body 16a has substantially the same thickness t in the reference axis SX direction or the optical axis AX direction.
  • the intermediate screen 19 is formed in a range corresponding to one cycle of the spiral. That is, the intermediate screen 19 is formed in the range of one pitch of the spiral. As a result, the stepped portion 16 j is formed at one place along the periphery of the diffusion portion 16.
  • one portion along the circumferential direction is a functional area FA through which the optical axis AX of the main optical system 13 passes, and an intermediate image TI is formed by the portion of the intermediate screen 19 in the functional area FA.
  • the functional area FA moves at a constant speed on the rotating body 16a as the rotating body 16a rotates. That is, the position of the functional area FA or the intermediate image TI reciprocates along the optical axis AX by causing the display light (image light) DL to be incident on the functional area FA which is a part thereof while rotating the rotating body 16 a. (If the display of the display device 11 is not operating, the intermediate image as the display is not necessarily formed, but the position where the intermediate image will be formed is also called the position of the intermediate image).
  • the intermediate screen 19 is formed in a range corresponding to one cycle of the spiral, the functional area FA or the intermediate image TI of the intermediate screen 19 is stepped in the optical axis AX direction by one rotation of the rotating body 16a. It makes one round trip by a distance equivalent to
  • the imaging optical system (first projection optical system) 15 has a predetermined focal depth equal to or greater than the movement range of the functional area FA so that defocusing does not occur due to the position of the intermediate screen 19 provided in the diffusion unit 16. .
  • the hollow frame 16b has a cylindrical outer contour, and includes a side surface portion 16e and a pair of end surface portions 16g and 16h.
  • the side surface portion 16e and the pair of end surface portions 16g and 16h are formed of the same light transmitting material. However, the side surface portion 16 e may not have light transparency.
  • the main surfaces 63a and 63b of one end face portion 16g may be, for example, smooth surfaces or optical surfaces parallel to each other, but may be a free curved surface or an aspheric surface.
  • the main surfaces 64a and 64b of the other end face portion 16h can also be, for example, smooth surfaces or optical surfaces parallel to each other, but can also be free curved surface shapes or aspherical shapes.
  • the rotating body 16a in the hollow frame 16b is fixed to the hollow frame 16b via the pair of central shaft portions 65, and the hollow frame 16b and the rotating body 16a integrally rotate around the reference axis SX Do.
  • the rotating body 16a may be fixed to the hollow frame 16b at its outer peripheral portion.
  • the intermediate screen 19 (or the three-dimensionally shaped portion 116) of the rotating body 16a is rotated by rotating the diffusion unit 16 around the reference axis SX at a constant speed by the rotational drive unit 64 which is a screen drive unit.
  • the position intersecting the optical axis AX (that is, the functional area FA) also moves in the direction of the optical axis AX. That is, for example, as shown in FIG. 4C, the functional area FA on the intermediate screen 19 is sequentially shifted to the adjacent functional areas FA ′ set at positions displaced by equal angles, for example, as the rotating body 16a rotates. , Move in the optical axis AX direction.
  • the position of the intermediate image TI can also be moved in the optical axis AX direction.
  • the details will be described later, for example, by moving the position of the intermediate image TI to the display device (display element) 11 side, it is possible to increase the projection distance or virtual image distance to the projection image IM. Further, by moving the position of the intermediate image TI to the virtual image forming optical system 17 side, it is possible to reduce the projection distance to the projection image IM or the virtual image distance.
  • the virtual image forming optical system (second projection optical system) 17 enlarges the intermediate image TI formed by the imaging optical system (first projection optical system) 15 in cooperation with the display screen 20, and is a driver who is an observer A projected image IM as a virtual image is formed in front of VD.
  • the virtual image forming optical system 17 includes at least one mirror, but includes two mirrors 17 a and 17 b in the illustrated example.
  • the virtual image forming optical system (second projection optical system) 17 can have optical characteristics to correct the curvature of the intermediate screen 19 (that is, the curvature of field of the intermediate image TI) in the functional area FA of the rotary member 16a.
  • the diffusion unit 16 rotates around the reference axis SX, and an intermediate image corresponding to the functional area FA
  • the position of TI repeatedly and periodically moves in the direction of the optical axis AX, and the distance between the projected image IM as a virtual image formed behind the display screen 20 by the virtual image forming optical system 17 and the driver VD as the observer is large, Or can be smaller.
  • the position of the projected image IM to be projected is changed back and forth, and the display device 11 is moved in synchronization with the optical axis AX direction in synchronization with the arrangement of the intermediate image TI under the control of the display control unit 18
  • the display distance to the projection image IM or the virtual image distance by changing the display content of the display device (display element) 11 according to the position while changing the display content of the display image (display element) 11,
  • the projection image IM as a series of projection images can be made three-dimensional.
  • the rotational speed of the diffusion unit 16 or the rotational speed of the rotating body 16a or the moving speed of the functional area FA is as if the projected image IM as a virtual image is simultaneously displayed at a plurality of places or multiple projection distances in the depth direction. It is desirable that the speed can be shown.
  • the projected image IM of each distance zone which is a unit of the projection distance, is switched at 30 fps or more, preferably 60 fps or more, a plurality of displayed images are visually recognized as continuous images.
  • the projected image IM is sequentially projected in five steps from the near distance to the far distance according to the operation of the diffusion unit 16
  • each distance for example, near distance
  • display switching is performed at 40 fps, and the projected images IM of the respective distance zones are performed in parallel, and the switching is recognized as being substantially continuous.
  • FIG. 5 is a diagram specifically illustrating the change in the position of the intermediate image TI as the diffusion unit 16 rotates.
  • the functional area FA of the diffusion unit 16 is repeatedly and periodically moved along the direction of the optical axis AX in a sawtooth-shaped time-lapse pattern PA, and the position of the intermediate image TI is also continuously displayed by the display device (display element) 11 In the case where it is carried out, as shown in the drawing, it moves periodically in a sawtooth-like time-lapse pattern PA along the direction of the optical axis AX. That is, the position of the intermediate image TI changes continuously and periodically along with the rotation of the diffusion portion 16 while being discontinuous at the portion corresponding to the step portion 16 j.
  • the position of the projected image (virtual image) IM is also periodically moved along the optical axis AX direction similarly to the position of the intermediate image TI although the scale is different, and the projection distance is continued Can be changed.
  • the display device 11 since the display device 11 does not perform continuous display but performs intermittent display while switching the display content, the display position of the intermediate image TI is also discrete on the sawtooth-like time-lapse pattern. It becomes a position.
  • a display position Pn closest to the near distance side or closer to the virtual image forming optical system 17 and a display position Pf closer to the far distance side or the reverse imaginary image forming optical system 17 secure a margin
  • the temporal pattern PA It is set to a position separated by a predetermined amount from both ends of.
  • the discontinuity PD of the temporal pattern PA corresponds to the step portion 16 j provided on the rotating body 16 a of the diffusion portion 16.
  • the distance in the depth direction being displayed changes by changing the position of the intermediate image TI within the time when the same object is displayed. That is, the projected image IM is a display having a depth.
  • the display distance seen by the observer (driver VD) for the display zone in which the distance in the depth direction changes in such a manner is a substantially average position of the distance in the depth direction changing within the display time.
  • the unit of display having depth is a display zone
  • the time of one cycle is the display time of each display zone and the number n of display zones. If the time is shorter than the product, the display zones extend over a plurality of distance zones, and at least adjacent display zones overlap in the projection distance range displayed in each zone. By performing overlapping display in this manner, the same projected image (virtual image) IM can be displayed with a spread in the depth direction, and the display time of each display zone can be displayed as compared to the display in which no overlap occurs. This makes it possible to increase the brightness of the projected image (virtual image) IM.
  • FIG. 6 is a conceptual block diagram for explaining the overall structure of the head-up display device 200.
  • the head-up display device 200 includes the image display device 100 as a part thereof.
  • the image display apparatus 100 has a structure shown in FIG. 1 or FIG. 2, and the description thereof is omitted here.
  • the head-up display device 200 includes a driver detection unit 71, an environment monitoring unit 72, and a main control unit 90 in addition to the image display device 100.
  • the driver detection unit 71 is, for example, a detection unit that detects the presence of the driver VD, and includes a driver seat camera 71a, a driver seat image processing unit 71b, and a determination unit 71c.
  • the driver's seat camera 71a is installed in front of the driver's seat of the dashboard 4 in the vehicle body 2 (see FIG. 3B), and captures an image of the head of the driver VD and the periphery thereof.
  • the driver's seat image processing unit 71b performs various types of image processing such as brightness correction on the image captured by the driver's seat camera 71a to facilitate the processing in the determination unit 71c.
  • the determination unit 71c detects the head of the driver VD by performing extraction or clipping of the object from the driver's seat image that has passed through the driver's seat image processing unit 71b, and detects the head of the driver VD. Along with the presence or absence of the head of the driver VD, for example, the spatial position of the eye of the driver VD (as a result, the direction of the line of sight) is calculated.
  • the environment monitoring unit 72 is an object detection unit that detects an object present in a detection area, and is a mobile object or person existing close to the front of the vehicle body 2, specifically, an object such as a car, a bicycle or a pedestrian. And a three-dimensional measuring device for extracting three-dimensional position information of the object.
  • the environment monitoring unit (object detection unit) 72 includes an external camera 72a, an external image processing unit 72b, and a determination unit 72c as a three-dimensional measuring device.
  • the external camera 72a enables capturing of an external image in the visible or infrared region.
  • the external camera 72a is installed at an appropriate position inside or outside the vehicle body 2, and captures the detection area in front of the driver VD or the front window 8 as an external image.
  • the external image processing unit 72b performs various image processing such as brightness correction on the external image captured by the external camera 72a to facilitate 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 image from an external image that has passed through the external image processing unit 72b, and from depth information attached to the external image.
  • the spatial position of the object in front of the vehicle body 2 is calculated and stored in the storage unit 72m as three-dimensional position information.
  • Software that enables extraction of an object image from an external image is stored in the storage unit 72m of the determination unit 72c, and software and the like required from the storage unit 72m at the time of an operation of extracting an object image from an external image.
  • the determination unit 72c can detect, for example, an element corresponding to an object element from the shape, size, color and the like of each object element in the obtained image.
  • the determination criteria at that time include a method of performing pattern matching with information registered in advance and detecting something from the degree of matching. Further, from the viewpoint of increasing the processing speed, the lane can be detected from the image, and the object can be detected from the shape, size, color, etc. of the target or the object element in the lane.
  • the external camera 72a is, for example, a compound eye type three-dimensional camera, although illustration is omitted. That is, the external camera 72a is an array of camera elements including a lens for image formation and a complementary metal oxide semiconductor (CMOS) and other imaging elements in a matrix, and a drive circuit for the imaging elements Each has A plurality of camera elements constituting the external camera 72a can detect, for example, relative parallax, and by analyzing the state (focus state, position of an object, etc.) of an image obtained from the camera elements, A target distance to each region or object in the image corresponding to the detection region can be determined.
  • CMOS complementary metal oxide semiconductor
  • the depth direction of each part (area or object) in the photographed screen is obtained.
  • a target distance which is distance information can be obtained.
  • the compound-eye type external camera 72a instead of the compound-eye type external camera 72a, obtain a target distance which is distance information in the depth direction with respect to each part (area or object) in the photographed screen by a stereo camera in which two two-dimensional cameras are separately arranged. Can.
  • a target distance which is distance information in the depth direction with respect to each part (area or object) in the photographed screen it is also possible to obtain a target distance which is distance information in the depth direction with respect to each part (area or object) in the photographed screen. it can.
  • distance information in the depth direction can be obtained for each part (area or object) in the detection area even if the LIDAR (Light Detection and Ranging) technology is used instead of the compound eye type external camera 72a.
  • the object detection accuracy can be enhanced by a complex method that combines radar sensing technology such as LIDAR technology and technology that detects the distance of an object from image information, that is, a method that fuses multiple sensors. Can.
  • the display control unit 18 operates the display device 11 and the display optical system 30 under the control of the main control unit 90 to display a three-dimensional projection image IM whose virtual image distance or projection distance changes behind the display screen 20.
  • the main control unit 90 has a role of harmonizing the operations of the image display apparatus 100, the environment monitoring unit 72, and the like.
  • the main control unit 90 periodically changes the projection distance of the virtual image, which is the projection image IM by the display optical system 30, by operating the rotation drive unit 64 which is a screen drive unit via the display control unit 18, for example. That is, the main control unit 90 or the like periodically changes the projection position in the depth direction of the virtual image which is the projection image IM. Further, the main control unit 90 adjusts the spatial arrangement of the frame projected by the display device 11 and the display optical system 30 so as to correspond to the spatial position of the object detected by the environment monitoring unit 72.
  • the main control unit 90 generates image data corresponding to the projection image IM to be formed by the display device 11 and the display optical system 30 from the display information including the display shape and the display distance received from the environment monitoring unit 72.
  • the display content of the projected image IM is synchronized with the operation of the rotation drive unit 64, that is, synchronized with the movement of the intermediate image TI.
  • the projected image IM is, for example, a marker such as a frame located around the top, bottom, left, and right with respect to a car, bicycle, pedestrian or other object existing behind the display screen 20. Can.
  • the main control unit 90 functions as an image adding unit in cooperation with the display control unit 18 and detects an object detected at a timing when the target distance to the detected object substantially matches the projection distance.
  • a related information image is added as a virtual image through the display device 11 and the display optical system 30.
  • the control unit 53 of the projection distance measuring device 50 shown in FIG. 1 will be described with reference to FIG.
  • the projection distance measuring device 50 or the control unit 53 operates to measure the projection distance with respect to the projection image (virtual image) IM formed by the image display device 100 or the head-up display device 200.
  • the control unit 53 includes a communication unit 53a, an input unit 53b, a storage unit 53c, a display unit 53d, and a processing unit 53p.
  • the communication unit 53a not only enables measurement processing by the processing unit 53p communicating with the distance measurement camera 51 and the moving mechanism 52, but also an external device such as the display control unit 18 of the image display apparatus 100.
  • the input unit 53b is a portion for receiving user's operation or a command from an external device
  • the storage unit 63d is information necessary for the operation of the projection distance measuring device 50, image data acquired by the distance measuring camera 51, etc.
  • the display unit 53 d is a part for storing information to be presented to the user, a photographed image, a measurement result of the projection distance, and the like.
  • the processing unit 53p centrally controls the operations of the communication unit 53a, the input unit 53b, the storage unit 53c, etc., and for example, a projected image (virtual image) IM projected by the head-up display device, specifically, for measurement
  • the projection distance of the display image FM is calculated.
  • the processing unit 53p is a part that generates the display image FM for measurement and the image data that is the source of the normal projected image (virtual image) IM, and functions as a display image generation unit 57d.
  • the processing unit 53p is a part that analyzes the image acquired by the distance measurement camera 51 and evaluates the deviation amount of the display image FM for measurement with respect to the target 81 described later, and functions as an acquired image analysis unit 57f.
  • the display image FM for measurement should not have a large depth width, and the display of the projection image IM should be limited to a specific distance zone, or the display zone should be narrower than in the case of the normal projection image IM. deal with.
  • FIGS. 8A and 8B are diagrams for explaining the principle of the projection distance measuring method of the present invention.
  • a bill shape or a signboard displaying a picture of a person as the target 81 is disposed in the field of view of the head-up display device 200, and the center position of the display screen 20 with respect to the target 81.
  • the arrows are displayed as a display image FM for measurement so as to overlap when observed from the top.
  • a mount is prepared so that the target 81, the image display apparatus 100, the distance measurement camera (image acquisition unit) 51, and the like have a desired arrangement relationship.
  • These installation members, stages, etc. may be integrated with the projection distance measuring device 50 or may be separate.
  • the projection distance from the display screen 20 to the display image FM for measurement coincides with the distance to the target 81.
  • the distance measurement camera image acquisition unit
  • the projection distance from the display screen 20 to the display image FM for measurement is different from the distance to the target 81, and the display image FM is disposed closer to the target 81.
  • the distance measurement camera (image acquisition unit) 51 for observing the display image FM for measurement is moved from the position corresponding to the center 20 a of the display screen 20 in the horizontal ⁇ X direction, the overlap initially occurs at the center 20 a of the display screen 20
  • the two images that is, the display image FM for measurement and the image of the target 81
  • the amount of displacement between the two images at this time is determined by the amount of movement of the distance measurement camera 51, the difference in the projection distance of the display image FM with respect to the distance to the target 81, etc.
  • the distance measurement is performed.
  • the projection distance of the display image FM for measurement is measured by detecting such an amount of deviation between the two images with respect to the lateral movement of the camera 51 and performing appropriate processing.
  • the projection operation of the head-up display device 200 or the image display device 100 can be checked, and the projection operation of the head-up display device 200 can be performed. It can be corrected. This enables the head-up display device 200 to accurately project an arbitrary projection image (virtual image) IM to a target projection distance.
  • FIG. 9 is a display for measurement when the distance measurement camera (image acquisition unit) 51 is moved and observed when there is a difference between the distance to the target 81 and the distance to the display image FM for measurement. It is a figure explaining an example of the arithmetic method which calculates
  • the head-up display device 200 or the image display device 100 performs display so that the target 81 and the display image FM for measurement overlap at the position Pa corresponding to the center 20 a of the display screen 20. . Thereafter, in a plane perpendicular to a line (the optical axis AX in FIG.
  • the disposition distance from the image sensor IS of the distance measurement camera (image acquisition unit) 51 to the target 81 is Lt
  • the ratio of Li (Sc-Si) / Sc ⁇ Lt (2)
  • the projection distance Li is obtained by the calculation of FIG. 9 shows the case where the display image FM for measurement is disposed closer to the target 81, but conversely, when the display image FM for measurement is disposed farther than the target 81, the distance measurement is performed.
  • the direction in which the displacement of the display image occurs when the camera (image acquisition unit) 51 is moved is opposite to that in the case where the display image FM for measurement is closer to the target 81.
  • the direction of movement when the display image FM for measurement becomes close is a positive value with the direction of movement being a positive direction
  • the direction of movement when the display image FM for measurement is a distance
  • a value of- The projection distance of the display image FM for measurement can be calculated regardless of whether the display image FM for measurement is close to or far from the target 81 according to the above equation (2).
  • the amount of movement on the imaging element IS is a value obtained by multiplying the imaging magnification M of the distance measurement camera 51.
  • the calculation of the equation (2) needs to be performed in consideration of the magnification of the distance measurement camera 51. Although the description of such an imaging magnification is omitted in the following calculation of the projection distance and the like, it is necessary to carry out the same.
  • the target 81 and the display image FM for measurement may be the same image. It does not matter.
  • a figure is drawn on the target 81 so that the position measurement camera 51 can capture a reference position. Thereby, the quantification of the displacement of the predetermined display image FM with respect to the target 81 becomes accurate.
  • the image or contour on the target 81 or the image on the display image FM for measurement may be a circular image other than a human image or an arrow, as long as it can detect positional deviation, such as a triangle or a quadrangle. It may be a polygonal image or an image of a straight line or a curved line.
  • the projection distance for forming the display image FM for measurement at the time of measurement is approximately the display image FM for measurement with the target 81, with the arrangement distance of the target 81 as a design value by the image display apparatus 100.
  • the arrangement distance may be made to match, but as shown in FIG. If the target 81 is placed at a position corresponding to the placement distance of the design by the image display apparatus 100, the display image FM for measurement is placed at the design position when the amount of deviation with respect to the target 81 is zero. Because it is easy to calculate, it is desirable in processing of measurement data.
  • the projection distance of the projection image (virtual image) IM may be long, and if the target 81 is placed at the design position, it may be necessary to widely take the place necessary for measurement. . In such a case, if the target 81 is placed at a position closer to the design and the measurement is made on the basis of the displacement amount generated at that position, it is possible to make a compact measurement which does not take a large place.
  • the projection distance to the projected image (virtual image) IM formed by the image display device 100 does not change depending on the observation position, but when the observation position is moved from the center 20a of the display screen 20
  • the projection position of the projection image (virtual image) IM may change due to the aberration of the display optical system 30.
  • the display image FM for measurement moves with the movement of the observation position and is observed as the display image FM ′ for measurement.
  • the value ⁇ L corresponds to a design change in the projection distance, and is a variation of the projection distance when the observation position is moved from the center 20 a of the display screen 20 by the value Sc due to the aberration of the display optical system 30. is there.
  • the variation amount ⁇ L of the projection distance is a value determined by the design of the display optical system 30, and a measurement error corresponding to a position deviated by ⁇ L from the projection distance Li at the center 20a of the actual display screen 20 occurs.
  • calculation is performed in consideration of the variation amount due to the aberration of the display optical system 30.
  • the projection distance is obtained by the same method as the calculation method shown in FIG. 9.
  • the actual projection distance Li or the projection distance toward the center 20 a of the display screen 20 is given by equation (5).
  • FIG. 11 is a diagram for explaining an example of a projection distance measurement method using the projection distance measurement device 50.
  • the target 81 is placed at a target projection distance or a projection distance intentionally removed from the target 81 (step S11).
  • the placement of the target 81 can be automated by the mounting member.
  • the control unit 53 creates image data of the projected image IM as the display image generation unit 57d, and operates the head-up display device 200 to continuously measure the display image FM for measurement to the target projection distance. It is projected (step S12).
  • control unit 53 operates the moving mechanism 52 to move the distance measurement camera (image acquisition unit) 51 in front of the center 20 a of the display screen 20 and causes the distance measurement camera (image acquisition unit) 51 to display a display field
  • the target 81 inside and the display image FM for measurement are photographed (step S13).
  • the obtained image data is stored in the measurement data storage unit 57b of the storage unit 53c.
  • the control unit 53 operates the moving mechanism 52 to move the distance measurement camera (image acquisition unit) 51 to a position deviated laterally from the center 20 a of the display screen 20 and causes the distance measurement camera (image acquisition unit)
  • the target 51 within the display field of view and the display image FM for measurement are photographed at 51 (step S14).
  • the obtained image data is stored in the measurement data storage unit 57b of the storage unit 53c.
  • the control unit 53 performs object detection as the acquired image analysis unit 57 f on the image data obtained in step S 14, and evaluates how much the display image FM for measurement is misaligned with respect to the target 81.
  • the positional displacement amount obtained in step S15 is stored in the storage unit 53c as a parameter necessary for calibration of the projection distance of the projection image (virtual image) IM by the head-up display device 200.
  • the distance measurement camera (image acquisition unit) 51 is moved to display the display field while displaying the display image FM for measurement so as to overlap the target 81. Since the projection distance of the virtual image is measured from the degree of positional deviation between the target 81 and the display image FM for measurement, the projection distance of the virtual image can be accurately measured by a simple method, and the projection image in the head-up display device It is possible to accurately adjust the projection distance of (virtual image) IM.
  • the projection distance measuring method and apparatus as a specific embodiment have been described above, the projection distance measuring method and apparatus according to the present invention are not limited to the above.
  • the head-up display device or the image display device to be measured is not limited to those illustrated in FIG. 1 and the like, and can be devices of various types.
  • the measurement is performed in a state where the target 81 and the display image FM for measurement are overlapped, but the target 81 and the display image FM for measurement are necessarily completely overlapped. It is not necessary to measure as a state. That is, measurement in a non-overlapping state is also possible.
  • the difference between the respective positions is set in advance, and in consideration of the difference, each of the target and the display image FM for measurement It is also possible to measure the amount of movement of the image acquired when moving the distance measurement camera 51, and calculate the distance difference from the difference between the respective amounts of movement.
  • the main optical system 13 of the display optical system 30 consists of only the virtual image forming optical system 17 and does not form an intermediate image. That is, by moving the display device 11 in the direction of the optical axis AX or the like by the device drive unit 216, it is possible to directly adjust the projection position or display range of the projection image (virtual image) IM. Even with such a head-up display device, it is possible to measure the projection distance using the projection distance measuring device 50 shown in FIG.
  • the whole of the head-up display device 200 or the image display device 100 is measured as a test object, measurement using only the display device 11 and the main body optical system 13 which are optical engines of the head-up display device 200 It is possible, and measurement of only the display screen 20 which performs display is also possible. Also in such a case, it shall correspond to implementation of the projection distance measuring device of a head up display device, and the projection distance measuring method. In such a case, if the measurement is carried out for a part deficient in the measurement, by performing a jig on a peripheral device such as a master device or an optical system, the projection distance measurement method similar to that described in the embodiment is implemented. It will be possible.
  • the distance measurement camera 51 is moved to the front of the center 20a of the display screen 20, and the distance measurement camera 51 causes the target 81 in the display field of view and the display image FM for measurement to be photographed (step S13 in FIG. 11).
  • this process can be omitted if the target 81 can be arranged at the center of the display field.
  • the outline of the display screen 20 is not limited to a rectangle, and can have various shapes.
  • the environment monitoring unit 72 detects an object present in front of the vehicle body 2 and displays a related information image such as a frame corresponding to the arrangement of the object on the image display device 100. Regardless of the presence or absence of an object, additional communication related information can be acquired using the communication network, and such display related to the operation can be displayed on the image display device 100. For example, a display that warns of a car, an obstacle, etc. present in a blind spot is also possible.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Instrument Panels (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

Selon la présente invention, un procédé de mesure de distance de projection et un dispositif de mesure de distance de projection sont fournis en tant que préalable pour régler correctement la distance de projection d'une image virtuelle. Selon le procédé de mesure de distance de projection de l'invention : une image de projection (image virtuelle) IM est affichée au moyen d'un écran d'affichage (20) par un dispositif d'affichage tête haute (200) ; une caméra de mesure de distance (unité d'acquisition d'image) (51) est disposée de façon à photographier un champ de vision d'affichage dans un état dans lequel une cible (81) est disposée à une position prescrite dans le champ de vision d'affichage ; et la caméra de mesure de distance (51) est déplacée tandis qu'une image d'affichage de mesure FM est affichée par le dispositif d'affichage tête haute (200) de façon à chevaucher la cible (81), et la distance de projection de l'image virtuelle projetée par le dispositif d'affichage tête haute (200) est mesurée à partir du degré de déplacement de position entre la cible (81) obtenu en photographiant le champ de vision d'affichage et l'image d'affichage de mesure FM.
PCT/JP2019/000089 2018-01-09 2019-01-07 Procédé et dispositif de mesure de distance de projection WO2019138970A1 (fr)

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CN111076905A (zh) * 2019-12-31 2020-04-28 重庆大学 一种车载抬头显示虚像像质综合测量方法
CN117073988A (zh) * 2023-08-18 2023-11-17 交通运输部公路科学研究所 抬头显示虚像距离测量系统及方法、电子设备
CN117073988B (zh) * 2023-08-18 2024-06-04 交通运输部公路科学研究所 抬头显示虚像距离测量系统及方法、电子设备

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JP2016203850A (ja) * 2015-04-24 2016-12-08 株式会社リコー 情報提供装置、情報提供方法及び情報提供用制御プログラム
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JP2008065088A (ja) * 2006-09-07 2008-03-21 Toyota Central R&D Labs Inc 静止物地図生成装置
JP2011209457A (ja) * 2010-03-29 2011-10-20 Denso Corp ヘッドアップディスプレイ装置の製造方法および同製造方法に用いるのに適した虚像調整装置
JP2016203850A (ja) * 2015-04-24 2016-12-08 株式会社リコー 情報提供装置、情報提供方法及び情報提供用制御プログラム
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CN111076905A (zh) * 2019-12-31 2020-04-28 重庆大学 一种车载抬头显示虚像像质综合测量方法
CN117073988A (zh) * 2023-08-18 2023-11-17 交通运输部公路科学研究所 抬头显示虚像距离测量系统及方法、电子设备
CN117073988B (zh) * 2023-08-18 2024-06-04 交通运输部公路科学研究所 抬头显示虚像距离测量系统及方法、电子设备

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