WO2019207965A1 - ヘッドアップディスプレイ装置 - Google Patents

ヘッドアップディスプレイ装置 Download PDF

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Publication number
WO2019207965A1
WO2019207965A1 PCT/JP2019/008604 JP2019008604W WO2019207965A1 WO 2019207965 A1 WO2019207965 A1 WO 2019207965A1 JP 2019008604 W JP2019008604 W JP 2019008604W WO 2019207965 A1 WO2019207965 A1 WO 2019207965A1
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WO
WIPO (PCT)
Prior art keywords
display
virtual image
projection
projection range
image
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/008604
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English (en)
French (fr)
Japanese (ja)
Inventor
真之 近藤
枝里香 澤田
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Denso Corp
Original Assignee
Denso Corp
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Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Publication of WO2019207965A1 publication Critical patent/WO2019207965A1/ja
Priority to US17/078,395 priority Critical patent/US11999231B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • 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
    • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
    • 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
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/211—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays producing three-dimensional [3D] effects, e.g. stereoscopic images
    • 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
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/23—Head-up displays [HUD]
    • B60K35/233—Head-up displays [HUD] controlling the size or position in display areas of virtual images depending on the condition of the vehicle or the driver
    • 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
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/23—Head-up displays [HUD]
    • B60K35/235—Head-up displays [HUD] with means for detecting the driver's gaze direction or eye points
    • 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
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/29—Instruments characterised by the way in which information is handled, e.g. showing information on plural displays or prioritising information according to driving conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/20—Optical features of instruments
    • B60K2360/31—Virtual images
    • 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
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/20—Optical features of instruments
    • B60K2360/33—Illumination features
    • B60K2360/334—Projection means
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0179—Display position adjusting means not related to the information to be displayed
    • G02B2027/0181—Adaptation to the pilot/driver

Definitions

  • the present disclosure relates to a head-up display device.
  • Patent Document 1 discloses a head-up display device that projects image light emitted from a projector onto a windshield and displays a virtual image in front of an occupant.
  • a stepper motor is provided on the concave mirror of the optical system. Due to the rotational drive of the concave mirror by the stepper motor, the projection range that the image light reaches in the windshield moves.
  • This disclosure is intended to provide a head-up display device that can reduce the occupant's discomfort associated with adjustment of the projection range.
  • a head-up display device that is used in a vehicle and displays a virtual image superimposed on the foreground of an occupant includes a projector that emits light of a display image displayed as the virtual image, and a projection provided in the vehicle Among the members, an adjustment mechanism that mechanically moves a projection range in which the light emitted from the projector can be projected, and the display position of the virtual image is maintained in accordance with the movement of the projection range by the adjustment mechanism.
  • a state control unit for controlling the state of the display image projected by the projector.
  • the state of the light emitted from the projector is controlled so as to maintain the display position of the virtual image. According to such control, the movement of the virtual image on the appearance of the occupant is suppressed even during the period in which the projection range is moved. According to the above, the uncomfortable feeling accompanying adjustment of the projection range is reduced.
  • the drawing It is a block diagram which shows the whole image of the vehicle-mounted structure relevant to the virtual image display system by 1st embodiment, It is a figure which shows an example of AR display using a virtual image, It is a figure which shows an example of the setting method of the projection range corresponding to an eye point, It is a figure showing the details of adjustment by eye point tracking control in order, It is a time chart schematically showing each transition of eye point, video data, projection range, and virtual image position in eye point tracking control, It is a flowchart showing details of superimposition control processing for realizing eye point tracking control, It is a figure showing an example when the occurrence of missing display objects is assumed at the time of the transition of the driving scene, It is a figure showing an example of adjustment of the projection range by scene adaptation control, It is a time chart schematically showing each transition of video data, projection range, and virtual image position in scene adaptation control, It is a
  • a virtual image display system 100 displays various information related to the vehicle A to an occupant (for example, a driver) by augmented reality (AR) display using the virtual image Vi superimposed on the foreground of the vehicle A.
  • the virtual image display system 100 can communicate with other in-vehicle configurations via a communication bus 29 of the in-vehicle network.
  • An external sensor 21, a locator 22, a three-dimensional map database 23, a posture sensor 24, a driver status monitor 25, and the like are directly or indirectly electrically connected to the communication bus 29.
  • the external sensor 21 detects moving objects such as pedestrians, cyclists and other vehicles, and stationary objects such as curbs on the road, road signs, road markings, and lane markings. At least a part of the moving object and the stationary object is a target for alerting by superimposing the virtual image Vi.
  • the external sensor 21 includes, for example, a camera unit, a lidar, a millimeter wave radar, and the like. The external sensor 21 sequentially outputs object information indicating the relative position, relative speed, type, and the like of the detected moving object and stationary object to the communication bus 29.
  • Locator 22 can receive a positioning signal from each positioning satellite of at least one satellite positioning system among satellite positioning systems such as GPS, GLONASS, Galileo, IRNSS, QZSS, and Beidou. Locator 22 measures the position of vehicle A based on the received positioning signal. The locator 22 sequentially outputs the measured position information of the vehicle A toward the communication bus 29.
  • the locator 22 may have an inertial sensor for correcting position information.
  • the 3D map database (hereinafter referred to as “3D map DB”) 23 is mainly configured by a large-capacity storage medium storing a large number of 3D map data.
  • the three-dimensional map data is highly accurate map data that enables automatic driving, for example, and includes information indicating the latitude, longitude, and altitude of the road.
  • the 3D map DB 23 can update the 3D map data to the latest information through the network.
  • the 3D map DB 23 can provide the virtual image display system 100 with 3D map data around the vehicle A and in the traveling direction in response to a request from the virtual image display system 100.
  • the attitude sensor 24 is a sensor that detects at least one of the attitudes of the vehicle A such as yaw, roll, and pitch.
  • the posture sensor 24 is, for example, a height sensor.
  • the attitude sensor 24 measures the amount of subsidence with respect to the body of specific wheels that are displaced in the vertical direction by the operation of the suspension arm suspended on the body as information indicating the pitch amount of the vehicle A.
  • the posture sensor 24 measures the relative distance between the body and the suspension arm and sequentially outputs the measurement result to the communication bus 29 as posture information.
  • a gyro sensor that detects an angular velocity in the pitch direction of the vehicle A
  • an acceleration sensor that detects an acceleration in the vertical direction of the vehicle A, or the like may be provided as the attitude sensor 24.
  • the driver status monitor (hereinafter “DSM”) 25 has a near infrared light source, a near infrared camera, and an image analysis unit.
  • the DSM 25 is arranged, for example, on the upper surface of the instrument panel or the like with the near-infrared camera facing the driver's seat.
  • the DSM 25 captures the periphery or upper body of the driver's face irradiated with near-infrared light by a near-infrared light source with a near-infrared camera, and captures a face image including the driver's face.
  • the DSM 25 analyzes the captured face image by the image analysis unit, and detects the position of the driver's eye point EP.
  • the DSM 25 sequentially outputs the position information of the eye point EP to the communication bus 29.
  • the position information of the eye point EP is preferably three-dimensional position information, and includes values indicating positions in the x direction, the y direction, and the z direction, for example.
  • the x-axis is defined along the width direction of the vehicle A.
  • the y axis is defined along the vertical direction of the vehicle A.
  • the z-axis is defined along the longitudinal direction of the vehicle A.
  • the DSM 25 may be capable of calculating driver state information other than the eye point EP, such as information on the line-of-sight direction and the degree of eye opening, by image analysis.
  • the virtual image display system 100 performs display by superimposing the virtual image Vi on a superimposition target in the foreground (for example, the forward vehicle LV, see FIG. 2) by projecting the display image Pi onto the windshield WS provided in the vehicle A.
  • the virtual image display system 100 includes a projection device 30, a drawing device 60, and the like.
  • the projection device 30 is electrically connected to the drawing device 60 and acquires the video data PS generated by the drawing device 60.
  • the projection device 30 is accommodated in an accommodation space in the instrument panel below the windshield WS.
  • the light of the display image Pi projected from the projection device 30 toward the windshield WS is reflected toward the driver's seat by the indoor side surface of the windshield WS and is perceived by the driver.
  • the driver visually recognizes the display in which the virtual image Vi is superimposed on the superimposition target in the foreground that can be seen through the windshield WS.
  • the projection device 30 includes an optical unit 50 and a projection control circuit 40.
  • the optical unit 50 has an optical configuration for projecting the light of the display image Pi generated from the video data PS onto the windshield WS.
  • the optical unit 50 includes a projector 51, a screen 52, a concave mirror 53, an adjustment mechanism 54, and the like.
  • Each optical element such as the projector 51, the screen 52, and the concave mirror 53 is accommodated in the housing 30 a of the projection device 30.
  • the housing 30a defines the relative positional relationship between the optical elements with high accuracy.
  • the projector 51 emits the light of the display image Pi displayed as the virtual image Vi toward the screen 52.
  • the projector 51 includes, for example, a laser light source and a MEMS (Micro Electro Mechanical Systems) scanner.
  • the projector 51 draws a display image Pi on the screen 52 by scanning with laser light emitted toward the screen 52.
  • the projector 51 is controlled by the projection control circuit 40 to emit light from the laser light source and to scan the mirror unit of the MEMS scanner.
  • the screen 52 is formed in a horizontally long rectangular plate shape using a colorless and transparent material such as glass.
  • the screen 52 is, for example, a micromirror array.
  • the screen 52 is provided with a screen reflection surface 52a that reflects laser light.
  • a large number of minute reflective convex surfaces formed by vapor deposition of a metal such as aluminum are two-dimensionally arranged on the screen reflective surface 52a.
  • a display image Pi based on the video data PS is formed on the screen reflecting surface 52 a by scanning of the projector 51.
  • the concave mirror 53 is a reflecting mirror obtained by depositing a metal such as aluminum on the surface of a colorless and transparent substrate made of synthetic resin or glass.
  • the concave mirror 53 has a reflective surface curved in a concave shape facing the screen reflective surface 52a.
  • the curved shape of the reflecting surface is formed as a free curved surface corresponding to the curved shape of the windshield WS in order to reduce the distortion of the virtual image Vi.
  • the concave mirror 53 reflects the laser light incident from the screen 52 toward the windshield WS. As a result, a virtual image Vi obtained by enlarging the display image Pi displayed on the screen 52 can be visually recognized by the driver.
  • the adjustment mechanism 54 is a mechanism that mechanically moves an area that is the projection range PA in the windshield WS.
  • the projection range PA is a range in which the light emitted from the projector 51 can be projected. That is, when viewed from the driver, the projection range PA is a range in which the virtual image Vi can be displayed.
  • the vertical range in which the driver can visually recognize the light of the display image Pi reflected in the projection range PA is, for example, about 5 cm. Therefore, if the projection range PA is fixed, a state in which the virtual image Vi cannot be visually recognized may occur due to factors such as the driver's physique and the driver's posture collapse.
  • the adjustment mechanism 54 maintains the state in which the virtual image Vi is visible to the driver by the operation of moving the projection range PA to the position in the vertical direction (y direction) corresponding to the driver's eye point EP.
  • corresponding projection position ALe In order to determine the position of the projection range PA corresponding to the eye point EP (hereinafter referred to as “corresponding projection position ALe”), as shown in FIG. 3 as an example, the position is set at a specific distance Ls along the horizontal plane from the eye point EP.
  • a reference superimposition target RO having a certain reference height Hr is assumed.
  • a position where the upper edge of the virtual image Vi (projection range PA) intersects with a virtual line that three-dimensionally connects the top of the reference superimposition target RO and the eye point EP corresponds to the corresponding projection position ALe corresponding to the eye point EP (FIG. 2). Reference).
  • the movement of the projection range PA toward the corresponding projection position ALe is performed by the adjustment mechanism 54 shown in FIG.
  • the adjustment mechanism 54 is fixed to the housing 30a in a state where the concave mirror 53 is held so as to be rotatable around a specific rotation axis.
  • the adjustment mechanism 54 has a stepping motor that is electrically connected to the projection control circuit 40.
  • the adjustment mechanism 54 rotates the concave mirror 53 around the rotation axis by the rotation operation of the stepping motor based on the drive signal from the projection control circuit 40, and changes the posture of the concave mirror 53 with respect to the housing 30a, that is, the direction of the reflecting surface. .
  • the projection range PA moves upward in the vehicle A (see PA1 in FIG. 2).
  • the movable range (hereinafter, “adjustable range”) of the projection range PA corresponds to the rotatable range of the concave mirror 53 in the adjustment mechanism 54.
  • the projection control circuit 40 is an electric circuit mainly composed of a microcontroller, for example, and controls the virtual image display by the optical unit 50.
  • the projection control circuit 40 includes a video acquisition unit 41, a laser control unit 42, a signal acquisition unit 44, and an attitude control unit 45.
  • These configurations may be a functional unit realized by software such as a program, or may be a functional unit realized by hardware formed by combining a plurality of electric elements.
  • each of the above configurations may be a functional unit realized by a combination of software and hardware.
  • the video acquisition unit 41 is connected to the drawing device 60 via a video transmission cable or the like.
  • Video data PS for virtual image display is transmitted from the drawing device 60 to the video acquisition unit 41.
  • the laser control unit 42 integrally controls light emission of the laser light source in the projector 51 and scanning of the MEMS scanner.
  • the laser control unit 42 reproduces the image of each frame of the video data PS acquired by the video acquisition unit 41, and draws the display image Pi on the screen reflection surface 52a under the control of the projector 51.
  • the signal acquisition unit 44 acquires a command signal for instructing the posture angle of the concave mirror 53 from the drawing device 60.
  • the attitude control unit 45 sets the rotation direction and rotation amount (rotation angle) of the output shaft of the stepping motor based on the command signal acquired by the signal acquisition unit 44.
  • the attitude control unit 45 rotates the concave mirror 53 to the attitude angle indicated by the command signal under the control of the adjustment mechanism 54.
  • the drawing device 60 is an electronic control unit connected to a plurality of on-vehicle displays including the projection device 30.
  • the drawing device 60 is, for example, an HCU (HumanHMachine Interface) Control Unit that integrally controls information presentation to the driver using a plurality of in-vehicle displays.
  • the control unit of the combination meter may also serve as the drawing device 60.
  • the control circuit of the drawing device 60 is mainly composed of a processing unit 61, a RAM 62, a memory device 63, and a computer having an input / output interface.
  • the processing unit 61 includes at least one of a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit).
  • the memory device 63 stores various programs executed by the processing unit 61.
  • the plurality of programs stored in the memory device 63 includes a display control program for controlling virtual image display by the projection device 30.
  • the drawing device 60 includes functional units such as an information acquisition unit 71, a display setting unit 72, a video generation unit 73, and an attitude setting unit 74 by executing a display control program by the processing unit 61.
  • the information acquisition unit 71 is communicably connected to the communication bus 29.
  • the information acquisition unit 71 includes object information output from the external sensor 21, 3D map data provided from the 3D map DB 23, posture information output from the 3D map DB 23, and eyepoint EP detected by the DSM 25. Position information and the like are acquired from the communication bus 29. These pieces of information acquired by the information acquisition unit 71 are sequentially provided to the display setting unit 72, the video generation unit 73, and the posture setting unit 74.
  • the display setting unit 72 selects the display object 10 to be displayed as the virtual image Vi from the plurality of display objects 10 set in advance.
  • the plurality of display objects 10 include a turn-by-turn (TbT) display 11 (see FIG. 8), a speed display 12 (see FIG. 8), a target display 13 (see FIG. 2), and the like.
  • the TbT display 11 indicates a travel route toward the destination set in the navigation device or a travel route set in the automatic driving system.
  • the TbT display 11 is displayed in a superimposed manner on the actual road surface serving as a travel route (see FIG. 8).
  • the speed display 12 indicates the traveling speed of the vehicle A.
  • the target display 13 is displayed in a superimposed manner on the lower edge of the preceding vehicle LV, and indicates the preceding vehicle LV (see FIG. 2) that is the subject of follow-up traveling.
  • Each display object 10 is associated with a display priority.
  • the TbT display 11 and warning icons are set in advance as the display object 10 having a high display priority.
  • the display setting unit 72 estimates the traveling scene of the vehicle A based on the 3D map data provided from the 3D map DB 23.
  • the display setting unit 72 selects the display object 10 corresponding to the estimated traveling scene from the plurality of display objects 10 as a display target.
  • the display setting unit 72 selects a traveling scene such as traveling on a general road, traveling on a highway, and moving from a general road to a highway.
  • the video generation unit 73 generates video data PS of the virtual image Vi displayed by the projection device 30.
  • an original image of the display object 10 which is a target of virtual image display by the display setting unit 72 is drawn.
  • the original image is displayed by light emission as the display image Pi on the screen reflection surface 52a.
  • the video generation unit 73 selects a target on which the virtual image Vi is to be superimposed from a moving object and a stationary object in which object information exists.
  • the video generation unit 73 uses the object information, the posture information, the three-dimensional map data, the position information of the eye point EP, and the like, and the display object formed by imaging the drawing position and drawing shape of the original image in each frame as a virtual image Vi 10 is adjusted so that it can be visually recognized by being correctly superimposed on the object to be superimposed.
  • the video generation unit 73 sequentially outputs the generated video data PS to the video acquisition unit 41 of the projection device 30 in a predefined video format.
  • the posture setting unit 74 cooperates with the posture control unit 45 of the projection control circuit 40 to control the rotation operation of the adjustment mechanism 54 and adjust the posture angle of the concave mirror 53 and thus the position of the projection range PA.
  • the posture setting unit 74 determines the posture angle of the concave mirror 53 so that the projection range PA is located at the corresponding projection position ALe based on the position information of the eye point EP and the estimation result of the traveling scene.
  • the posture setting unit 74 generates a command signal that indicates the determined posture angle, and sequentially outputs the generated command signal toward the signal acquisition unit 44 of the projection control circuit 40.
  • the video generation unit 73 and the posture setting unit 74 described above perform display control to maintain a state in which the virtual image Vi is correctly overlapped and visually recognized on the superimposition target by mutual cooperation. Specifically, when the eye point EP moves in accordance with the driver's posture change, the posture setting unit 74 moves the projection range PA toward the corresponding projection position ALe based on the latest position information of the eye point EP. As described above, the adjustment mechanism 54 is controlled in cooperation with the posture control unit 45. In such a movement period of the projection range PA, the video generation unit 73 corrects the original image drawn on the video data PS so that the display position of the virtual image Vi is maintained in accordance with the movement of the projection range PA, and the projector The state of the display image Pi projected by 51 is controlled.
  • the video generation unit 73 acquires the estimated position information of the projection range PA that is moving toward the corresponding projection position ALe.
  • the estimated position information of the projection range PA is calculated using a product of a preset moving speed of the projection range PA, that is, the rotational speed of the concave mirror 53 and the elapsed time after the output of the command signal.
  • the video generation unit 73 grasps the mutual three-dimensional positional relationship by appropriately combining the estimated position information of the projection range PA with the position information of the eye point EP, object information, posture information, three-dimensional map data, and the like.
  • the video generation unit 73 reduces (cancels) the amount of movement of the projection range PA, and the original image in each frame is continuously projected on the specific position of the windshield WS. Move the drawing position of. As a result, even if the projection range PA is moved, the display position of the virtual image Vi on the driver's appearance is maintained.
  • FIG. 1 As a specific example of the interlock control for moving the projection range PA while maintaining the display position of the virtual image Vi, details of eye point tracking control and scene adaptation control are shown in FIG. 1 based on FIGS. However, it will be explained.
  • ⁇ Eyepoint tracking control> In the eye point tracking control, the generation of the video data PS and the attitude angle adjustment of the concave mirror 53 are controlled in conjunction with the fluctuation of the eye point EP. If it is after boarding and before driving
  • the virtual image Vi is first moved by correcting the video data PS, and then in parallel with the angle control of the concave mirror 53 so as to match the expected angle of the concave mirror 53.
  • the correction amount of the video data PS is restored.
  • the virtual image Vi of the display object 10 is to be superimposed (previous vehicle) because the projection range PA is located at the corresponding projection position ALe corresponding to the eye point EP. LV) is correctly superimposed.
  • the driver's eye point EP moves downward (for example, about 2 cm) from this reference state (time t1 in FIG. 5)
  • the positions of the projection range PA and the virtual image Vi are determined by the driver. Moves upward from the reference state in appearance.
  • the target display 13 is displayed not on the lower side of the preceding vehicle LV but on the center of the preceding vehicle LV.
  • correction of the video data PS is performed in advance, instead of adjusting the attitude angle of the concave mirror 53 that is physically slow rotating (time t2 in FIG. 5).
  • the video generation unit 73 corrects the drawing position of the original image in each frame of the video data PS so that the virtual image Vi of the target display 13 is displayed at the corresponding display position IPe corresponding to the eye point EP.
  • the state of the display image Pi that is, the display position of the display image Pi on the screen reflection surface 52a is temporarily changed.
  • the virtual image Vi of the target display 13 viewed from the driver returns to a state where it is correctly superimposed on the lower edge of the preceding vehicle LV, as in the reference state.
  • the corresponding display position IPe is a position where the virtual image Vi correctly overlaps the superimposition target in the foreground viewed from the eye point EP.
  • the video generation unit 73 determines the drawing position of the original image in the video data PS while taking into account the rotational speed of the concave mirror 53 by the adjustment mechanism 54 and the delay time required to reproduce the video data PS. Gradually move to the position before correction (time t3 in FIG. 5). As described above, the display position of the display image Pi on the screen reflection surface 52a is returned to the display position before the change in accordance with the movement of the projection range PA to the corresponding projection position ALe (time t3 to t4 in FIG. 5). As a result, the display position of the virtual image Vi on the target display 13 is maintained below the preceding vehicle LV that is the corresponding display position IPe.
  • the video generation unit 73 calculates the cumulative movement amount of the virtual image Vi accompanying the movement of the eye point EP, and determines whether or not the projection range PA needs to be moved based on the calculated cumulative movement amount.
  • the video generation unit 73 determines that the movement of the projection range PA due to the rotation of the concave mirror 53 is unnecessary. In this case, the posture setting unit 74 does not adjust the rotation of the concave mirror 53.
  • the video generation unit 73 corrects the drawing position of the original image in the video data PS. As described above, the display position of the display image Pi is adjusted, and the virtual image Vi is displayed at the corresponding display position IPe corresponding to the eye point EP.
  • the video generation unit 73 calculates the movement amount of the eye point EP.
  • the corresponding display position IPe can be outside the current projection range PA.
  • the posture setting unit 74 starts rotating the concave mirror 53.
  • the video generation unit 73 sets the drawing position of the original image in the video data PS so that the display position of the virtual image Vi is closest to the corresponding display position IPe. to correct.
  • the video generation unit 73 moves the original image in the video data PS in accordance with the continued movement of the projection range PA to the corresponding projection position ALe.
  • the drawing position of is gradually returned to the position before correction. As a result, the display of the virtual image Vi at the corresponding display position IPe is maintained even while the movement of the projection range PA is continued.
  • the superposition control process shown in FIG. 6 is started when the virtual image display system 100 is started when the vehicle A is turned on, and is repeated until the virtual image display system 100 is stopped when the vehicle A is turned off.
  • S101 information necessary for virtual image display such as position information of the eye point EP is acquired, and the process proceeds to S102.
  • the movement amount of the eye point EP is calculated, and the process proceeds to S103.
  • the corresponding display position IPe of the virtual image Vi is calculated based on the movement amount of the eye point EP calculated in S102, and whether or not the virtual image Vi can be displayed at the corresponding display position IPe with the current projection range PA remains unchanged. Determine whether. If it is determined in S103 that the corresponding display position IPe is outside the current projection range PA and the virtual image Vi cannot be displayed on the corresponding display position IPe, the process proceeds to S108. On the other hand, if it is determined in S103 that the corresponding display position IPe is within the current projection range PA and the virtual image Vi can be displayed at the corresponding display position IPe, the process proceeds to S104.
  • S104 the cumulative movement amount of the virtual image Vi is calculated, and the necessity of movement of the projection range PA is determined. If it is determined in S104 that the accumulated movement amount is less than the threshold value, it is determined that the movement of the projection range PA due to the rotation of the concave mirror 53 is unnecessary, and the process proceeds to S105.
  • S105 the state of the display image Pi is changed by adjusting the video data PS so that the virtual image Vi is displayed at the corresponding display position IPe corresponding to the current eye point EP, and the process ends.
  • the process proceeds to S106.
  • S106 as in S105, the state of the display image Pi is changed by adjusting the video data PS so that the virtual image Vi is displayed at the corresponding display position IPe corresponding to the current eye point EP, and the process proceeds to S107.
  • S107 the movement of the projection range PA toward the corresponding projection position ALe is started, and the process proceeds to S108.
  • S108 the state of the display image Pi is gradually returned to the state before the change in accordance with the movement of the projection range PA so that the virtual image display at the corresponding display position IPe is maintained, and the process ends.
  • the state of the display image Pi is changed so that the virtual image Vi approaches the corresponding display position IPe, and the process proceeds to S109.
  • the movement of the projection range PA toward the corresponding projection position ALe is started, and the process proceeds to S110.
  • the movement of the projection range PA toward the corresponding projection position ALe is started, and the process proceeds to S111.
  • the state of the display image Pi is returned to the state before the change in accordance with the movement of the projection range PA so that the virtual image display at the corresponding display position IPe is maintained, and the process ends.
  • start of movement of the projection range PA in S107 may be substantially simultaneous with the display switching in S106, or may precede the display switching in S106.
  • start of movement of the projection range PA in S110 may be substantially simultaneous with the display switching in S109, or may precede the display switching in S109.
  • ⁇ Scene adaptive control> For example, while traveling on an expressway, there are many cases where it is desired to overlay the display object 10 on a distant superposition target. On the other hand, when traveling on a general road, there are many cases where the display object 10 is desired to be superimposed on a nearby superimposition target. Therefore, in the scene adaptation control, the position of the projection range PA on the windshield WS, that is, the angular posture of the concave mirror 53 is adjusted in accordance with the traveling scene estimated by the display setting unit 72. For example, when the traveling scene transitions from a general road to an expressway, the projection range PA starts to move upward before reaching the expressway by scene matching control.
  • the position of the projection range PA is adjusted based on the priority of the display object 10 selected by the display setting unit 72.
  • the TbT display 11 and the warning icon shown in FIG. 7 are the display objects 10 with high priority.
  • an important area for displaying the entire display object 10 is defined in advance.
  • the video generation unit 73 determines whether or not the current projection range PA includes an important area when the traveling scene changes. Then, in the display object 10 having a high priority, when the missing display object 15 that is not displayed at least partially in the current projection range PA is generated, the posture setting unit 74 causes the projection area PA to include the important area.
  • the angle posture of the concave mirror 53 is adjusted.
  • the posture setting unit 74 moves the projection range PA toward the adjustment projection position ALa that can display the entire defect display object 15 by rotating the concave mirror 53 (see FIG. 8).
  • the entire display object 10 TbT display 11
  • the video generation unit 73 controls the state of the display image Pi so that the display positions of the TbT display 11 and the speed display 12 are maintained.
  • the video generation unit 73 displays the TbT icon 11a shown in FIG. 10 instead of the TbT display 11.
  • the TbT icon 11a is an alternative display object that can display the entire image within the current projection range PA.
  • the TbT icon 11a is a display mode in which the TbT display 11 is simplified, and, like the speed display 12, is a non-AR display object that does not have a specific superposition mode.
  • the posture setting unit 74 adjusts the angular posture of the concave mirror 53 so that the projection range PA moves to a position that includes the plurality of important areas as much as possible.
  • the video generation unit 73 performs selection according to the priority set in advance, and the display object 10 that cannot be displayed as a whole is replaced with an alternative display object such as the TbT icon 11a. Switch to.
  • the area control process shown in FIG. 11 is started when the virtual image display system 100 is activated when the vehicle A is powered on, and is repeated until the virtual image display system 100 is stopped when the vehicle A is powered off, as in the eye point tracking control. .
  • S121 information necessary for virtual image display, such as the estimation result of the driving scene, is acquired, and the process proceeds to S122.
  • the priority of the display object 10 to be displayed is referred to, an important area to be included in the projection range PA is set, and the process proceeds to S123.
  • S123 it is determined whether or not the current projection range PA can include the important area set in S122, that is, whether or not the entire display object 10 with high priority can be displayed in the current projection range PA. To do. If it is determined in S123 that the entire display object 10 can be displayed, the process proceeds to S124. In S124, the normal video data PS including the original image of each display object 10 is generated, and the process ends.
  • the process proceeds to S125.
  • S125 it is determined whether or not the entire missing display object 15 can be displayed by moving the projection range PA. If it is determined in S125 that display is possible, the process proceeds to S126.
  • S126 the movement of the projection range PA toward the adjustment projection position ALa including the important area is started, and the process proceeds to S127.
  • S127 the state of the display image Pi is controlled by correcting the video data PS so that the display position of the virtual image Vi is maintained during the period in which the projection range PA is moved toward the adjusted projection position ALa. Then, based on the arrival of the projection range PA at the adjusted projection position ALa, the process is terminated.
  • the process proceeds to S128.
  • the original image drawn in the video data PS is switched from the normal display object 10 to an alternative display object (for example, the TbT icon 11a), and the process is terminated.
  • the state of the light emitted from the projector 51 is controlled to maintain the display position of the virtual image Vi. According to such control, the movement of the virtual image Vi on the driver's appearance is suppressed even during the period in which the projection range PA is moved. According to the above, the uncomfortable feeling associated with the adjustment of the projection range PA is reduced.
  • the virtual image Vi is changed to the corresponding display position IPe corresponding to the moved eye point EP by changing the state of the display image Pi. Can move quickly. Then, as the projection range PA is moved to the corresponding projection position ALe corresponding to the eye point EP, the state of the display image Pi is returned to the state before the change. According to the above, the virtual image display system 100 can perform control for causing the display position of the virtual image Vi to follow the movement of the eye point EP without causing the driver to feel a mechanical delay of the adjustment mechanism 54.
  • the corresponding projection position is obtained after the virtual image Vi is brought close to the corresponding display position IPe by correcting the video data PS.
  • the projection range PA is moved toward ALe. According to such interlocking control, the virtual image Vi can be quickly moved to the corresponding display position IPe corresponding to the current eye point EP even if the movement amount of the eye point EP is large.
  • the video generation unit 73 gradually corrects the video data PS so that the display of the virtual image Vi at the corresponding display position IPe is maintained. Go back. With such interlocking control, the period during which the driver perceives the movement of the virtual image Vi is shortened.
  • the movement of the projection range PA is postponed when the movement amount of the eye point EP is small. Then, the display position of the virtual image Vi follows the movement of the eye point EP by changing the state of the display image Pi. According to such control, since the operation opportunity of the adjustment mechanism 54 can be reduced, the reliability of the projection apparatus 30 is improved.
  • the projection range PA when there is a missing display object 15, the projection range PA is moved toward the adjustment projection position ALa that enables display of the entire missing display object 15.
  • the size of the optical unit 50 is suppressed and the projection range PA is simulated. Expansion becomes possible.
  • the video generation unit 73 controls the state of the display image Pi so that the display position of the virtual image Vi is maintained during the period in which the projection range PA moves toward the adjusted projection position ALa. .
  • the driver's uncomfortable feeling accompanying the movement of the projection range PA can be reduced.
  • the position of the projection range PA is automatically adjusted to a position suitable for display of the display object 10 selected as a display target in accordance with the traveling scene. And even if the projection range PA is moved by the transition of the running scene, the position of the virtual image Vi being displayed is maintained. Therefore, even if the projection range PA according to the driving scene is moved, an increase in the driver's uncomfortable feeling can be suppressed.
  • the image generation unit 73 of the first embodiment switches to display of an alternative display object when inclusion of the important area in the projection range PA is impossible due to, for example, the influence of the gradient or the vehicle posture.
  • the virtual image display system 100 can continue presenting the minimum information to the driver even in a situation where it is difficult to perform AR display.
  • the TbT icon 11a corresponds to an “alternative display object”
  • the display setting unit 72 corresponds to a “display selection unit”
  • the video generation unit 73 corresponds to a “state control unit”.
  • the windshield WS corresponds to a “projection member”
  • the virtual image display system 100 corresponds to a “head-up display device”.
  • the second embodiment of the present disclosure is a modification of the first embodiment.
  • a head-up display (hereinafter, “HUD”) device 200 shown in FIG. 12 mainly performs eye point tracking control and scene adaptation control.
  • the HUD device 200 is an optical apparatus corresponding to the projection device 30 (see FIG. 1) of the first embodiment.
  • the HUD device 200 is connected to the communication bus 29 and acquires information necessary for each control from the communication bus 29.
  • an external sensor 21, a locator 22, a three-dimensional map DB 23, an attitude sensor 24, a DSM 25, and the like are connected to the communication bus 29.
  • the HUD device 200 sequentially acquires the video data PS generated by the drawing device 60 as in the first embodiment.
  • the drawing device 60 includes an information acquisition unit 71, a display setting unit 72, and a video generation unit 73 as functional units.
  • a functional unit corresponding to the posture setting unit 74 is omitted from the drawing device 60.
  • the drawing device 60 generates video data PS having a size that can be trimmed by the HUD device 200. That is, the image size of the video data PS generated by the video generation unit 73 is set larger than the image size drawn on the screen reflection surface 52a, that is, the image size of the projection range PA projected by the optical unit 50. Yes.
  • the projection control circuit 240 of the HUD device 200 performs superimposition control processing (see FIG. 6) and area control processing (see FIG. 7).
  • the projection control circuit 240 includes a communication unit 243, an image processing unit 241, and an attitude setting unit 244 in addition to the laser control unit 42 and the attitude control unit 45 that are substantially the same as those in the first embodiment.
  • the communication unit 243 is communicably connected to the communication bus 29.
  • the communication unit 243 acquires the position information and the like of the eye point EP detected by the DSM 25 from the communication bus 29, and sequentially provides the acquired position information to the video processing unit 241 and the posture setting unit 244.
  • the video processing unit 241 acquires the video data PS generated by the video generation unit 73 as in the first embodiment. Based on the position information of the eye point EP acquired by the communication unit 243, the video processing unit 241 projects the projection range from each frame of the video data PS so that the virtual image Vi is correctly superimposed on the superimposition target. The use area to be projected onto the PA is set. The video processing unit 241 draws the display image Pi based on the drawing data of the use area on the screen reflecting surface 52a under the control of the laser control unit 42.
  • the posture setting unit 244 is based on the position information of the eye point EP and the like, and the corresponding projection position ALe (see FIG. 4) and the adjusted projection position ALa (see FIG. 7) is set by calculation.
  • the attitude control unit 45 and the adjustment mechanism 54 move the projection range PA by rotating the concave mirror 53 toward the projection positions ALe and ALa set by the attitude setting unit 244.
  • the video processing unit 241 adjusts the position to be cut out from the video data PS as the use area in accordance with the movement of the projection range PA to the corresponding projection position ALe or the adjusted projection position ALa.
  • the state of the display image Pi projected on the screen 52 by the projector 51 is controlled so that the display position of the virtual image Vi is maintained. Therefore, the second embodiment has the same effect as the first embodiment, and the uncomfortable feeling associated with the adjustment of the projection range PA is reduced.
  • the video processing unit 241 corresponds to a “state control unit”
  • the communication unit 243 corresponds to an “information acquisition unit”.
  • the HUD device has a configuration in which the projection device 30 and the drawing device 60 (see FIG. 1) of the first embodiment are integrated.
  • the projection control circuit of the HUD device includes functional units corresponding to the information acquisition unit, the display setting unit, the video generation unit, and the posture setting unit of the first embodiment, together with the laser control unit and the posture control unit. Even in the HUD device according to the first modified example, the uncomfortable feeling associated with the adjustment of the projection range PA can be reduced as in the first embodiment.
  • the interlock control for moving the projection range PA while maintaining the display position of the virtual image Vi is applied to the eye point tracking control and the scene matching control.
  • the above-described interlocking control can be used in various situations where the projection range needs to be moved except when the projection range is manually adjusted, for example.
  • the virtual image display system or the HUD device may be configured to perform only one of eye point tracking control and scene adaptation control.
  • the video data is corrected at the start of the movement of the projection range.
  • control may be omitted.
  • the rotation operation of the concave mirror that moves the projection range according to the change of the eye point may be always performed regardless of the cumulative movement amount of the virtual image.
  • the projection range is preliminarily moved based on the determination of whether it is a general road or a highway.
  • the position of the projection range may be moved upward in order to display a virtual image that emphasizes a traffic light installed in front of the vehicle and a signboard for road guidance.
  • deletion display object does not need to be implemented.
  • the adjustment mechanism of the above embodiment is configured to adjust the angular posture of the concave mirror in order to mechanically move the projection range.
  • the specific configuration of the adjustment mechanism can be changed as appropriate.
  • the adjustment mechanism may be a mechanism that adjusts the attitude of the screen or the projector, or may be a mechanism that adjusts the attitude of the housing with respect to the instrument panel.
  • the adjustment mechanism may be a mechanism that adjusts the posture of the combiner.
  • the adjustment mechanism may be able to move the projection range PA other than the vertical direction (y direction).
  • the adjustment mechanism may be able to move the projection range PA in the left-right direction (x direction), the roll direction around the z axis, and the like.
  • optical distortion and blurring occur along the outer periphery of the virtual image, particularly with reflection by the windshield and concave mirror. Therefore, the video generation unit or the video processing unit can sequentially perform correction on the video data so as to reduce optical distortion and blur that occur in the virtual image in accordance with the movement of the projection range. Such correction is performed based on a preset conversion table or mathematical expression.
  • the projector of the above embodiment a configuration including a laser light source, a MEMS scanner, and the like has been adopted.
  • the specific configuration of the projector can be changed as appropriate.
  • the projector may be a DLP (Digital Light Processing, registered trademark) projector using DMD (Digital Micromirror Device).
  • DMD Digital Micromirror Device
  • LCOS Liquid Crystal On On Silicon
  • a liquid crystal projector having a liquid crystal panel and an LED light source may be employed.
  • each function provided by the control circuit and the projection control circuit of the drawing apparatus can be provided by software and hardware for executing the software, software only, hardware only, or a combination thereof. It is. Furthermore, when such functions are provided by electronic circuits that are hardware, each function can also be provided by a digital circuit including a large number of logic circuits, or an analog circuit.
  • non-transitory tangible storage media such as a flash memory and a hard disk can be used for a memory device that stores a display control program or the like.
  • the form of such a storage medium may be changed as appropriate.
  • the storage medium may be in the form of a memory card or the like, and may be configured to be inserted into a slot portion provided in the drawing apparatus and electrically connected to the control circuit.
  • the storage medium is not limited to the memory device of the on-vehicle device as described above, and may be an optical disk that is a copy base of the program to the memory device, a hard disk drive of a general-purpose computer, or the like.
  • control unit and its method described in the present disclosure are realized by a dedicated computer provided by configuring a processor and a memory programmed to execute one or more functions embodied by a computer program. May be.
  • control unit and the method thereof described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits.
  • control unit and the method thereof described in the present disclosure may include a combination of a processor and a memory programmed to execute one or more functions and a processor configured by one or more hardware logic circuits. It may be realized by one or more configured dedicated computers.
  • the computer program may be stored in a computer-readable non-transition tangible recording medium as instructions executed by the computer.
  • each section is expressed as S101, for example.
  • each section can be divided into a plurality of subsections, while a plurality of sections can be combined into one section.
  • each section configured in this manner can be referred to as a device, module, or means.

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  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Instrument Panels (AREA)
  • Traffic Control Systems (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
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