JPWO2019131296A1 - Head-up display device - Google Patents

Abstract

Provided is a head-up display (HUD) device capable of displaying a display reminiscent of the behavior of a vehicle while ensuring visibility of an actual scene. The HUD device 100 is mounted on the vehicle 1 and projects a display light L representing an image on the windshield 2 to display the image as a virtual image V on a virtual surface A set in front of the windshield 2. The HUD device 100 includes a display unit that emits the display light L, and a control unit that controls the image displayed on the virtual surface A by controlling the operation of the display unit. The virtual surface A is set to be tilted forward with respect to the vertical direction of the vehicle 1, and the image displayed on the virtual surface A includes a surface recall image reminiscent of a surface by combining linear or dot-shaped image elements. .. The control unit acquires the traveling speed of the vehicle 1 and displays the surface recall image in a moving image mode in which the image element moves according to the acquired traveling speed.

Description

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

A head-up display (HUD) device that displays an image as a virtual image in front of a translucent member by projecting display light representing an image onto a translucent member such as a windshield of a vehicle is, for example, a patent. It is disclosed in Document 1.

Patent Document 1 discloses the HUD device in FIG. 4A, but mainly, by displaying a striped pattern that moves according to the vehicle speed directly on the display window of the display provided in the vehicle, the vehicle A display device that transmits the behavior of the driver through the visual sense of the driver is disclosed.

JP-A-2007-210587

In the HUD device, since an image (virtual image) is displayed by superimposing it on a landscape (actual view) such as a road seen through a translucent member, a pattern mainly assumed to be displayed on an actual screen as in Patent Document 1 is displayed according to the vehicle speed. Just moving it may hinder the visibility of the actual scene.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a head-up display device capable of displaying a display reminiscent of the behavior of a vehicle while ensuring visibility of an actual scene.

In order to achieve the above object, the head-up display device according to the present invention
A head-up display device mounted on a vehicle and projecting display light representing an image onto a translucent member to display the image as a virtual image on a virtual surface set in front of the transmissive member.
The display unit that emits the display light and
A control unit that controls the image displayed on the virtual surface by controlling the operation of the display unit is provided.
The virtual surface is set so as to be tilted forward with respect to the vertical direction of the vehicle.
The image displayed on the virtual surface includes a surface recall image that reminds a surface by a combination of linear or dot image elements.
The control unit acquires the traveling speed of the vehicle and obtains the traveling speed of the vehicle.
The surface recall image is displayed in a moving motion mode in which the image element moves according to the acquired traveling speed.

According to the present invention, it is possible to perform a display reminiscent of the behavior of the vehicle while ensuring the visibility of the actual scene.

It is a figure which shows the mounting mode of the head-up display device which concerns on one Embodiment of this invention in a vehicle. It is a schematic side view for demonstrating the structure of the head-up display apparatus which concerns on one Embodiment of this invention. It is a block diagram which shows the head-up display apparatus and the like which concerns on one Embodiment of this invention. It is a schematic diagram for demonstrating the gradient angle of a road surface. (A) is a schematic view showing a virtual image superimposed on the road surface visible through the windshield of the vehicle, and (b) is a diagram for explaining each image constituting the virtual image. (A) is a diagram for explaining a virtual grid, and (b) is a diagram showing a surface recall image. (A) is a diagram showing a surface recall image in the special mode, and (b) is a diagram showing an example of displaying a virtual image in the special mode. It is a flowchart which shows an example of the display control processing. (A) and (b) are diagrams showing a surface recall image according to a modified example.

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

As shown in FIG. 1, the head-up display device (HUD: Head-Up Display) device 100 according to the present embodiment is arranged, for example, in the dashboard 3 of the vehicle 1.

The HUD device 100 emits the indicator light L toward the windshield 2 that has been combined. The display light L reflected by the windshield 2 heads toward the user 4 (mainly the driver of the vehicle 1). By placing the viewpoint in the eye box Eb, the user 4 can visually recognize the image represented by the display light L as a virtual image V in front of the windshield 2. That is, the HUD device 100 displays the virtual image V in front of the windshield 2. As a result, the user 4 can observe the virtual image V by superimposing it on the landscape. The virtual image V displays various information related to the vehicle 1 (hereinafter, referred to as vehicle information). The vehicle information includes not only the information of the vehicle 1 itself but also the external information of the vehicle 1.

As shown in FIG. 1, the HUD device 100 according to the present embodiment is set in front of the windshield 2 and a virtual image V is set on a virtual surface A set to be tilted forward with respect to the vertical direction of the vehicle 1. indicate. The virtual surface A corresponds to the display surface 31 of the screen 30 described later, and is a displayable area for the virtual image V. The virtual surface A has a rectangular shape when viewed from its normal direction. For example, in the virtual surface A, one end closest to the vehicle 1 is set at a position of about 5 m (for example, 6 m) from the vehicle 1, and the other end farthest from the vehicle 1 is set at a position of about 10 m (for example, 12 m) from the vehicle 1. Is set to. The virtual surface A and the eyebox Eb are preset based on the size of the screen 30 described later, various mirrors in the HUD device 100, and an optical system composed of the windshield 2 treated with a combiner.

As shown in FIGS. 2 and 3, the HUD device 100 includes a display 10, first to third plane mirrors 21 to 23, a screen 30, a concave mirror 40, a housing 50, and a control device 60. Be prepared. First, each part shown in FIG. 2 will be described.

The display 10 generates and emits display light L, and includes, for example, a projector using a reflective display device such as a DMD (Digital Micro mirror Device) or LCOS (Liquid Crystal On Silicon). The display 10 emits the display light L generated under the control of the control device 60 toward the first plane mirror 21.

The first plane mirror 21 is composed of, for example, a cold mirror, and is arranged so as to be inclined on the optical path of the display light L from the display 10. The display light L from the display 10 is reflected by the first plane mirror 21 and heads toward the screen 30.

The screen 30 is composed of, for example, a transmissive screen such as a holographic diffuser, a microlens array, and a diffuser. The screen 30 displays the image indicated by the display light L on the display surface 31 on the back side of the surface that receives the display light L. Along with this, the display light L corresponding to the image displayed on the display surface 31 is emitted toward the second plane mirror 22.

In this embodiment, the screen 30 is tilted forward with respect to the vertical direction of the vehicle 1, so that the virtual surface A, which is the display surface of the virtual image V, is tilted forward with respect to the vertical direction of the vehicle 1. As a method for setting the virtual surface A in this way, a known method can be appropriately adopted. For example, the virtual surface A is tilted by adjusting the tilt and curvature of the reflecting portion located on the optical path of the display light L. The virtual surface A may be realized.

The second plane mirror 22 reflects the display light L from the screen 30 toward the third plane mirror 23. The third plane mirror 23 reflects the display light L from the second plane mirror 22 toward the concave mirror 40. The second plane mirror 22 and the third plane mirror 23 are each composed of, for example, a cold mirror. In this embodiment, three first to third plane mirrors 21 to 23 are used as the plane mirrors that fold back the optical path of the display light L, but one or more plane mirrors may be used. How many plane mirrors are used and how the optical path of the display light L is folded back can be appropriately changed according to the design.

The concave mirror 40 magnifies the display light L from the third plane mirror 23 and reflects it toward the windshield 2. As a result, the virtual image V visually recognized by the user 4 is an enlarged image displayed on the screen 30.

The housing 50 is made of synthetic resin or metal and has a light-shielding property and is formed in a box shape. The housing 50 is provided with an opening for securing an optical path for the display light L, and a translucent cover 51 is attached so as to close the opening. The translucent cover 51 is formed of a translucent resin such as acrylic.

The display light L reflected by the concave mirror 40 passes through the translucent cover 51 and heads toward the windshield 2. In this way, the display light L is emitted from the HUD device 100 toward the windshield 2. When the display light L is reflected by the windshield 2, the virtual image V is displayed in front of the windshield 2 when viewed from the user 4.

The concave mirror may be provided so as to be rotatable or translated by an actuator (not shown). For example, the concave mirror is provided so as to be rotatable clockwise and counterclockwise in FIG. 2, and the display position (height) of the virtual image V is adjusted by rotating the concave mirror to change the reflection angle of the display light L. It may be possible. The adjustment may be performed under the control of the control device 60 according to a user operation from an operation unit (not shown) or a viewpoint position of a viewer detected by a viewpoint detecting means (not shown).

Subsequently, the control configuration of the HUD device 100 will be described mainly with reference to FIG.

The control device 60 controls the overall operation of the HUD device 100, and includes a control unit 61, a storage medium 62, and an I / F (InterFace) 63.

The control device 60 can communicate with various systems in the vehicle 1 via the I / F 63 by, for example, CAN (Controller Area Network). A power source is connected to the HUD device 100, and for example, operating power is supplied to the control device 60 when the ignition of the vehicle 1 is turned on.

The control unit 61 is composed of a microcomputer, a ROM (Read Only Memory) in which an operation program and various image data are stored, a RAM (Random Access Memory) in which various calculation results are temporarily stored, and a ROM. A CPU (Central Processing Unit) that executes a stored operation program, a GPU (Graphics Processing Unit) that executes image processing in cooperation with the CPU, and a drive circuit that drives the display 10 under the control of the CPU and GPU. Has. In particular, the ROM stores an operation program for executing the display control process described later. A part of the control unit 61 may be configured by a dedicated circuit such as an ASIC (Application Specific Integrated Circuit).

The storage medium 62 is composed of an SSD (Solid State Drive), an HDD (Hard Disk Drive), a DVD-ROM, a CD-ROM, and the like. The storage medium 62 stores digital map data including map information and three-dimensional coordinate information (three-dimensional information) for indicating the track shape. The digital map data includes track shape data indicating the shape of the track, height data indicating the reference height of the track (above sea level, etc.), gradient data indicating the longitudinal inclination (gradient) of the track, and inclination in the width direction of the track. It is configured to have various data such as inclination data to be shown, curvature data to show the curvature of the runway, and speed limit data to show the speed limit of the runway for each predetermined position (predetermined latitude and longitude) of the runway. The digital map data is used when the control unit 61 executes the drawing process.

The CPU of the control unit 61 cooperates with the GPU to control the display of the display 10 (generate the display light L) based on various image data stored in the ROM and digital map data stored in the storage medium 62. Control). The GPU determines the control content of the display operation on the display 10 based on the display control command from the CPU or the like. For example, the GPU controls to execute various displays by determining the switching timing of the image displayed on the screen 30 by the display light L from the display 10. In this way, the control unit 61 controls the display of the virtual image V. Further, layers are assigned to each image constituting the virtual image V in advance, and the control unit 61 can individually control the display of each image.

The I / F 63 includes an operation unit 70, a vehicle speed sensor 81, a vehicle attitude detection unit 82, a GPS (Global Positioning System) device 83, a wireless communication unit 84, a forward situation detection unit 85, and an ECU arranged in the vehicle 1. (Electronic Control Unit) This is a circuit for electrically connecting each of the 86 and the control unit 61.

The configuration of the HUD device 100 is as described above. Subsequently, various configurations for communicating with the control device 60 of the HUD device 100 will be described. In the vehicle 1, a vehicle display system is configured by the HUD device 100 and the following various configurations.

The operation unit 70 receives various operations by the user 4, and supplies a signal indicating the received operation content to the control unit 61. For example, the operation unit 70 receives an operation of enlarging or reducing the first broadcast image V1 indicating map information or the like described later, an operation of switching the display mode of the virtual image V, or the like by the user 4.

The vehicle speed sensor 81 detects the traveling speed (vehicle speed) of the vehicle 1 and outputs a signal corresponding to the vehicle speed to the control unit 61. The vehicle speed sensor 81 includes, for example, a Hall element that detects a detected portion (for example, an unevenness of a gear or a metal protrusion) that rotates in synchronization with a wheel, and supplies a vehicle speed signal having a frequency corresponding to the vehicle speed to the control unit 61. .. The control unit 61 performs A / D (Analog to Digital) conversion of the acquired vehicle speed signal, calculates the vehicle speed according to the frequency of the vehicle speed signal, and acquires it.

The own vehicle posture detection unit 82 detects the posture of the vehicle 1 (hereinafter, also referred to as “own vehicle 1”), and includes, for example, a gyro sensor. The gyro sensor detects the direction (traveling direction) of the own vehicle 1 and the inclination angle θ of the own vehicle, and outputs a signal indicating the detection result to the control unit 61. As shown in FIG. 4, the own vehicle gradient angle θ indicates the angle formed by the horizontal plane H and the own vehicle 1. As an example, the positive direction of the vehicle gradient angle θ is the clockwise direction in the figure (the same applies to the gradient angle γ described later). The vehicle gradient angle θ can also be calculated based on the position information from the GPS device 83, which will be described later, and the digital map data of the storage medium 62. Further, the vehicle attitude detection unit 82 may include a steering angle sensor and a yaw rate sensor.

The GPS device 83 obtains the latitude and longitude of the current position of the own vehicle 1, includes a GPS receiving antenna and an amplifier circuit, and transmits a transmission radio wave indicating position information received from an artificial satellite by the receiving antenna as a high-frequency signal. The amplified signal is output to the control unit 61. The control unit 61 reads map information in the vicinity of the current position, track shape data, and the like from the storage medium 62 based on the position information from the GPS device 83, and reaches the destination set by the user 4 (mainly the driver). It also functions as a car navigation controller that determines the guidance route of.

The wireless communication unit 84 includes an antenna, a high frequency circuit, and the like, and performs road-to-vehicle communication. The wireless communication unit 84 includes road information (including gradient information indicating the gradient angles of various roads. In addition, speed limit, lane, road width, intersection, curve, branch, etc.) via a roadside wireless device installed as an infrastructure. Information about the road, etc.) is received and output to the control unit 61. For example, the wireless communication unit 84 acquires road information from a traffic control base station (for example, a base station of a Driving Safety Support Systems (DSSS)) via a roadside wireless device. The control unit 61 can grasp the gradient angle γ of the road surface R from the gradient information acquired from the wireless communication unit 84. As shown in FIG. 4, the gradient angle γ indicates the angle formed by the horizontal plane H and the road surface R. The road surface R is a runway in front of the vehicle 1, and as shown in FIG. 5A, at least the user 4 can see it through the windshield 2.

The front situation detection unit 85 includes, for example, an image pickup means (stereo camera or the like) that captures the front scenery (including the road surface R) of the own vehicle 1, an image analysis unit that analyzes the captured image obtained by the image pickup by the image pickup means, and a subject. It is composed of a distance sensor or the like that measures the distance of. The front situation detection unit 85 detects various objects in front of the own vehicle 1 by analyzing the captured image by a known method such as a pattern matching method. The various objects include information on objects on the road surface R (preceding vehicles and obstacles) and road shape information (including the slope of the road surface R. In addition, information on lanes, road widths, intersections, curves, branch roads, etc.) And so on. The forward situation detection unit 85 may include a sonar, an ultrasonic sensor, a millimeter wave radar, and the like.

The ECU 86 controls each part of the vehicle 1, and in this embodiment, the vehicle 1 is switched and controlled between the automatic driving mode and the manual driving mode. Then, the ECU 86 currently outputs the operation mode information indicating whether the vehicle 1 is in the manual operation mode or the automatic operation mode to the control unit 61. For example, the automatic driving level when the vehicle 1 is set to the manual driving mode is level 0 or level 1. At level 0, the driver operates all main control systems (acceleration, steering, braking). At level 1, the system assists in any one of acceleration, steering, and braking. Further, for example, the automatic driving level when the vehicle 1 is set to the automatic driving mode is level 3 or higher. At Level 3, the system accelerates, steers, and brakes only in limited environments or in traffic conditions, and the driver responds when requested by the system.

In order to appropriately display the configuration image of the virtual image V described later, the control unit 61 first sets the virtual surface A from the own vehicle 1 on the road ahead of the own vehicle 1 (for example, several meters from the own vehicle 1). The shape of the road surface R in (~ ten and several m) is specified based on the position information from the GPS device 83 and the data stored in the storage medium 62. Further, the control unit 61 obtains the gradient angle γ of the specified road surface R from the gradient data obtained from the position information from the GPS device 83 and the data stored in the storage medium 62, and the gradient information acquired from the wireless communication unit 84. Identify based on such as. Further, the control unit 61 specifies the vehicle gradient angle θ based on the detection signal from the vehicle attitude detection unit 82. Then, the control unit 61 calculates (estimates) the relative angle γ1 of the front road surface R with respect to the own vehicle 1 by subtracting the own vehicle gradient angle θ from the gradient angle γ of the road surface R. The gradient of the road surface R seen from the own vehicle 1 corresponding to the control unit 61 and the relative angle γ1 may be calculated (estimated) based on the information from the front situation detection unit 85. The inclination of the road surface R detected by the forward situation detection unit 85 is based on an image captured by the imaging means mounted on the own vehicle 1, and therefore corresponds to a relative angle γ1.

Subsequently, the virtual image V displayed on the virtual surface A will be described by controlling the operation of the display 10 by the control device 60 of the HUD device 100.

As shown in FIGS. 5A and 5B, the virtual image V includes a surface recall image VS, a first broadcast image V1, and a second broadcast image V2.

The virtual image V shown in FIGS. 5 (a) and 5 (b) represents a view from the user 4 (driver) seated in the driver's seat of the vehicle 1 (FIGS. 6 and 7 described later). The same applies to FIG. 9). Since the virtual surface A is set obliquely as described above, in order for the user 4 to visually recognize the virtual image V as shown in FIGS. 5A and 5B, the image to be visually recognized from the viewpoint of the user 4 is desired. The control unit 61 controls the display of the virtual image V in consideration of the projection of the virtual image V onto the virtual surface A. For example, in order for the user 4 to visually recognize the rectangular virtual image V facing itself, the trapezoidal virtual image V obtained by projecting the rectangle onto the virtual surface A from the viewpoint of the user 4 is displayed. .. Each image constituting the virtual image V described below is display-controlled in consideration of the fact that the virtual surface A is oblique in this way. As the viewpoint position of the user 4, the control unit 61 may use an assumed viewpoint position stored in advance in the ROM, or a detection signal from a viewpoint detection means (such as a camera that captures the user 4) (not shown). It may be specified as appropriate based on.

The surface recall image VS is an image that reminds the user 4 of a surface by combining the linear image elements E shown in FIG. 5 (b), and is a road surface in front of the vehicle 1 as shown in FIG. 5 (a). It is visually recognized by the user 4 along R.

As described above, the control unit 61 is substantially parallel to a part of the road surface R for the user 4 based on the shape of the road surface R that can be specified, the gradient angle γ of the road surface R that can be calculated, and the relative angle γ1 (exactly, The display 10 is controlled so that the surface recall image VS can be visually recognized (including parallel).

The image element E is drawn according to, for example, the virtual grid G shown in FIG. 6A. The virtual grid G is generated along the road surface R in front of the road surface R specified as described above.

In consideration of the perspective method, the virtual grid G is formed by a combination of a plurality of lines extending from the vanishing point P set toward the user 4 side and a plurality of lines extending in the left-right direction, for example, by a one-point perspective projection method. It is composed. The vanishing point P may be preset in consideration of the relationship between the viewpoint position of the user 4 and the virtual surface A and may be stored in the ROM. The tip of the track that becomes the visual limit may be specified, and the one calculated based on the specific result may be used. Further, the plurality of lines extending in the left-right direction in the virtual grid G are arranged closer to each other as they approach the vanishing point P from the user 4 side. That is, the pattern of the virtual grid G is set in consideration of the "grain gradient" in which the texture becomes finer as the distance increases. The virtual grid G is not actually displayed as a virtual image V, but is used by the control unit 61 to draw the surface recall image VS.

In this embodiment, as shown in FIG. 6B, the control unit 61 draws a linear image element E so as to be located on a plurality of lines from the vanishing point P in the virtual grid G toward the user 4. To do. Further, the linear image element E is drawn so that the length becomes shorter as it approaches the vanishing point P in consideration of the arrangement interval of a plurality of lines extending in the left-right direction in the virtual grid G. As a result, the surface recall image VS composed of a plurality of linear image elements E can remind the user 4 of a surface in consideration of perspective, as shown in FIG. 6 (b).

Further, the control unit 61 displays the surface recall image VS in a moving motion mode in which the image element E moves toward the user 4 according to the traveling speed (vehicle speed) of the vehicle 1. As a result, the behavior of the vehicle 1 can be visually transmitted to the user 4. Further, since the surface recall image VS is composed of linear (or dot-shaped) image elements E as described later, the visibility of the actual scene can be ensured.

As shown in FIGS. 5A and 5B, the first broadcast image V1 shows map information in the vicinity of the current location of the vehicle 1 and a guide route. The control unit 61 controls the display of the map information near the current location of the vehicle 1 and the first broadcast image V1 indicating the guidance route based on the position information from the GPS device 83 and the digital map data of the storage medium 62. The first broadcast image V1 is displayed along the virtual grid G generated as described above, that is, along the surface recall image VS. Unlike the surface recall image VS, the first broadcast image V1 does not move as a whole according to the traveling speed (vehicle speed). If the first broadcast image V1 includes a vehicle image representing the current position of the vehicle 1, the vehicle image may be moved according to the vehicle speed.

The first broadcast image V1 can be enlarged and displayed by the control of the control unit 61 in response to the enlargement operation from the operation unit 70 by the user 4. The control unit 61 widens the arrangement pitch of the image elements E constituting the surface recall image VS in the left-right direction in accordance with the enlarged display of the first broadcast image V1. As a result, it is possible to make the first broadcast image V1 feel as if it is enlarged and displayed in conjunction with the face-to-face recall image VS. Further, the first broadcast image V1 can be reduced and displayed by the control of the control unit 61 in response to the reduction operation from the operation unit 70 by the user 4. The control unit 61 narrows the arrangement pitch of the image elements E constituting the surface recall image VS in the left-right direction in accordance with the reduced display of the first broadcast image V1. As a result, it is possible to make the first broadcast image V1 feel as if it is reduced and displayed in conjunction with the surface recall image VS. The control unit 61 may change the arrangement pitch and length of a plurality of lines from the vanishing point P toward the user 4 in accordance with the enlargement / reduction display of the first broadcast image V1.

As shown in FIGS. 5A and 5B, the second notification image V2 is an image for notifying the speed limit of the runway of the vehicle 1 as an example. The control unit 61 controls the display of the second broadcast image V2 based on the position information from the GPS device 83, the digital map data of the storage medium 62, and the data indicating the speed limit received by the wireless communication unit 84. Although the second broadcast image V2 is displayed on the virtual surface A, it is displayed and controlled by the control unit 61 as a pseudo standing image that is visually recognized as if it has risen with respect to the surface recall image VS when viewed from the user 4. As an example, the second broadcast image V2 is visually recognized by the user 4 substantially facing itself. Unlike the surface recall image VS, the second broadcast image V2 does not move as a whole according to the traveling speed (vehicle speed). The second notification image V2 may be a vehicle speed display or the like that numerically represents the vehicle speed detected by the vehicle speed sensor 81. Naturally, the vehicle speed display will be displayed changing according to the vehicle speed, but there is no change in not moving according to the vehicle speed.

In the examples shown in FIGS. 5A and 5B, an example in which the surface recall image VS is displayed also in the display area of the first broadcast image V1 is shown, but the display of the first broadcast image V1 is shown. In the area, the display brightness of the surface recall image VS may be lowered as compared with other display areas to make it difficult to see, or the surface recall image VS may be hidden. Further, the display superiority of the surface recall image VS, the first broadcast image V1 and the second broadcast image V2 may be predetermined by a layer. For example, the second broadcast image V2, the first broadcast image V1, and the surface recall image VS are set from the one with the highest display advantage (the one with the higher layer), and the display priority of the surface recall image VS is set to the lowest. You may.

Here, the virtual image V displayed by the HUD device 100 has a characteristic that the appearance changes depending on the superimposed object. For example, when there is a building or a preceding vehicle (hereinafter referred to as a front object) in front of the user, the virtual image V seems to have risen slightly to the user 4 in response to the user 4 focusing on them. It will be closed. Therefore, when only the first broadcast image V1 or the second broadcast image V2 is displayed as the virtual image V, the appearance may change in this way. On the other hand, in an image that makes a person feel movement, humans react sensitively to the movement. Therefore, according to the face recall image VS that can be animated according to the vehicle speed, the user 4 can recall the face without being caught by the object in front as much as possible. The HUD device 100 causes the user 4 to capture the surface recall image VS that makes the user feel the movement as a reference surface, and then makes the first broadcast image V1 and the second broadcast image V2 visually recognized on the reference plane. Therefore, the user 4 can be made to visually recognize the first broadcast image V1 and the second broadcast image V2 satisfactorily while making the user feel the behavior of the vehicle 1.

Further, as shown in FIGS. 5A and 5B, a predetermined switching from a mode in which the surface recall image VS is displayed in VR (Virtual Reality) along the road surface R (hereinafter referred to as "normal mode") is performed. At the opportunity, the control unit 61 switches the display mode of the virtual image V to the special mode. In the virtual image V of the special mode, as shown in FIG. 7B, the first broadcast image V1 represents the map information and the guide path in a plan view, and the surface recall image VS also has a plan view. It changes to make you feel. Specifically, the control unit 61 generates the virtual grid G so that the lines in the vertical direction and the lines in the horizontal direction are orthogonal to each other, as shown in FIG. 7A. Then, as shown in FIG. 7A, the control unit 61 draws the linear image element E so as to be located on a plurality of lines extending in the vertical direction in the virtual grid G. Since it is not necessary to create a perspective in the special mode related to the plan view, the control unit 61 draws the surface recall image VS without considering the vanishing point P and the “texture gradient”.

The trigger for switching from the normal mode to the special mode is that, for example, the control unit 61 accepts the display mode switching operation from the operation unit 70 by the user 4, or the vehicle 1 is in the automatic driving mode from the ECU 86. This may be the case when the indicated operation mode information is received. The trigger for switching from the special mode to the normal mode is that, for example, the control unit 61 accepts the display mode switching operation from the operation unit 70 by the user 4, or the vehicle 1 is in the manual operation mode from the ECU 86. This may be the case when the indicated operation mode information is received. Further, the control unit 61 switches the virtual image V from the special mode to the normal mode when the probability of danger is identified from the forward situation detected by the front situation detection unit 85, or displays either the normal mode or the special mode. May be terminated (for example, the first broadcast image V1 or the surface recall image VS may be deleted).

Further, also in the special mode, the control unit 61 sets the face-to-face image VS to the vehicle speed so that the image element E faces the user 4 (from above to below in FIGS. 7A and 7B). It is displayed in a moving image mode in which it is moved accordingly. Further, although not shown, the second broadcast image V2 may be displayed at an appropriate position even in the special mode.

Further, the special mode is not limited to the mode in which the first broadcast image V1 and the surface recall image VS are represented in a plan view. The first broadcast image V1 and the surface recall image VS may be represented by a bird's-eye view.

For example, the control unit 61 uses a preset variable virtual viewpoint (viewpoint located in the sky above the virtual), and uses a digital map stored in the virtual viewpoint and the storage medium 62 to project an image from the virtual viewpoint to the map plane. A bird's-eye view of the first broadcast image V1 may be generated by calculating based on the data. In this case, the surface recall image VS in the bird's-eye view mode may be generated according to the bird's-eye view of the generated first broadcast image V1. In the virtual grid G used when drawing the bird's-eye view recall image VS, the vanishing point P may be set in the display area or outside the display area. In any case, the control unit 61 generates a virtual grid G composed of a combination of a plurality of lines from the vanishing point P toward the virtual viewpoint side and a plurality of lines intersecting the lines, and the generated virtual grid G is generated. The surface recall image VS may be drawn by the linear image elements E located on a plurality of lines from the vanishing point P toward the virtual viewpoint side in the grid G. Even in this case, the pattern of the virtual grid G may be set in consideration of the “texture gradient” in which the texture becomes finer as the distance increases (the closer to the vanishing point P). Further, also in the bird's-eye view mode, the control unit 61 may display the surface recall image VS in a moving image mode in which the image element E moves from the vanishing point P side in a predetermined direction according to the vehicle speed.

In both the plane mode and the bird's-eye view mode, the control unit 61 changes the arrangement pitch and length of the linear image elements E according to the enlargement / reduction display of the first broadcast image V1. Therefore, it is sufficient to make the first broadcast image V1 feel as if it is enlarged / reduced in conjunction with the face-to-face recall image VS.

Subsequently, an example of the display control process executed by the control unit 61 of the HUD device 100 will be described with reference to FIG. The display control process is repeatedly executed, for example, at a predetermined cycle within the on-period of the ignition of the vehicle 1. Hereinafter, as an example, the display control process of the virtual image V in the normal mode shown in FIGS. 5A and 5B will be described.

(Display control processing)
When the display control process is started, the control unit 61 acquires the information necessary for image generation (step S1). Specifically, the control unit 61 acquires the position coordinates of the vehicle 1 from the GPS device 83. Further, the control unit 61 calculates the traveling direction of the vehicle 1 based on the time change of the position coordinates acquired from the GPS device 83 and the signal from the gyro sensor of the own vehicle attitude detection unit 82. Further, the control unit 61 specifies the shape of the road surface R at the set position of the virtual surface A from the own vehicle 1 based on the position information from the GPS device 83 and the data stored in the storage medium 62. Further, as described above, the control unit 61 calculates and acquires the slope angle γ of the road surface, the own vehicle gradient angle θ, and the relative angle γ1 of the road surface R with respect to the own vehicle 1. Further, the control unit 61 acquires the vanishing point P required for the calculation of the virtual grid G from the ROM or calculates it based on the image analysis of the front situation detection unit 85.

Subsequently, the control unit 61 generates a surface recall image VS, a first broadcast image V1, and a second broadcast image V2, and drives and controls the operation of the display 10 to create a virtual image V composed of these various images. Display on A (step S2). Specifically, the control unit 61 calculates a virtual grid G along the road surface R based on the shape of the road surface R in front acquired in step S1 and the relative angle γ1, and a linear image on the virtual grid G. A surface recall image VS is generated by drawing the element E. Further, the control unit 61 generates map information near the current location of the vehicle 1 and a first broadcast image V1 showing a guide route based on the position information from the GPS device 83 and the digital map data of the storage medium 62. Further, the control unit 61 controls the display of the second broadcast image V2 based on the position information from the GPS device 83, the digital map data of the storage medium 62, and the data indicating the speed limit received by the wireless communication unit 84.

Subsequently, the control unit 61 acquires the vehicle speed from the vehicle speed sensor 81 (step S3), and determines whether or not the vehicle 1 is stopped based on the acquired vehicle speed (step S4). Whether or not the vehicle 1 is stopped may be determined based on the brake information that can be acquired from the ECU 86 and the time change of the position coordinates acquired from the GPS device 83.

When it is determined in step S4 that the vehicle 1 is not stopped (step S4; No), the control unit 61 calculates the moving speed of the image element E when displaying the surface recall image VS in the moving image mode (step S4). S5). For example, the control unit 61 refers to the table data indicating the moving speed of the image element E associated with the vehicle speed stored in advance in the ROM, and acquires the moving speed according to the vehicle speed acquired in step S3. The vehicle speed acquired in step S3 may be used as the moving speed as it is, or a predetermined coefficient α (0 <α <1 or α> 1 may be set) for the vehicle speed acquired in step S3). The moving speed of the image element E may be calculated by multiplying by.

Subsequently, the control unit 61 drives and controls the display 10 and displays the surface recall image VS in a moving motion mode so that the image element E heads toward the user 4 at the moving speed calculated in step S5 (step S6). .. That is, the face-to-face recall image VS is displayed in a moving motion mode in which the image element E moves according to the vehicle speed of the vehicle 1.

When it is determined in step S4 that the vehicle 1 is stopped (step S4; Yes), the control unit 61 moves the image element E toward the user 4 at a set speed in which the surface recall image VS is stored in the ROM in advance. As shown in the moving image mode (step S8). As a result, even when the vehicle 1 is stopped, the surface recall image VS can be made to feel the movement, and the user 4 can recall the surface without being caught by the front object as much as possible. After executing step S8, the control unit 61 returns to step S1 to execute the process.

The moving speed of the image element E when the vehicle is stopped may be the moving speed immediately before the vehicle is stopped (that is, the moving speed calculated in step S5 immediately before the determination as Yes in step S4). Further, when the vehicle is stopped, the image element E may be swung or blinked instead of moving toward the user 4.

Following step S6, the control unit 61 determines whether or not the vehicle speed acquired in step S3 exceeds the threshold value stored in the ROM in advance (step S7). The threshold value is a threshold value for determining whether or not the vehicle is traveling at high speed. When the vehicle speed is equal to or lower than the threshold value (step S7; No), the control unit 61 returns to step S1 to execute the process.

On the other hand, when the vehicle speed exceeds the threshold value (step S7; Yes), that is, when it is considered that the vehicle is traveling at a predetermined high speed, the control unit 61 executes the visibility ensuring process (step S9). The visibility ensuring process is a process for suppressing the user 4 from being complicated by the image element E moving at a high speed according to the vehicle speed. As a visibility ensuring process, the control unit 61 lowers the visibility of the surface recall image VS as compared with the case where the vehicle speed is below the threshold value (for example, lowers the display brightness, lowers the brightness and saturation, etc.). At least one of control is performed, that is, the number of image elements E included in the surface recall image VS is reduced. After the process of step S9, the control unit 61 returns to step S1 to execute the process. The above is the display control process. Even if the display mode of the virtual image V is switched from the normal mode to the special mode of the plane mode or the bird's-eye view mode during the execution of the display control process, the control unit 61 repeatedly executes the display control process in the same manner. ..

The present invention is not limited to the above embodiments and drawings. Changes (including deletion of components) can be made as appropriate without changing the gist of the present invention.

(Modification example)
In the above example, the surface recall image VS is configured by the linear image element E located on the line from the vanishing point P on the virtual grid G toward the user 4, but the present invention is not limited to this.

For example, as shown in FIG. 9A, a grid composed of linear image elements E along each of a line from the vanishing point P in the virtual grid G toward the user 4 side and a line extending in the left-right direction (a). It may be a lattice) -shaped surface recall image VS1. As shown in FIG. 9A, the face-to-face recall image VS1 may be superimposed on at least a part of a plurality of lines constituting the virtual grid G, or may be superimposed on at least a part of a plurality of lines constituting the virtual grid G. It may match all of the plurality of lines. Further, as shown in FIG. 9B, the surface recall image VS2 composed of a plurality of cross-shaped image elements E superposed on the lines constituting the virtual grid G may be used. Further, the combination of the linear image element E is not limited to the above, and if the user 4 can be reminded of the surface, the combination of the dot-shaped image elements or the combination of the linear image element and the dot-shaped image element can be obtained. A surface recall image may be formed by the combination of.

Further, the virtual grid G and the surface recall images VS, VS1 and VS2 (hereinafter, the symbols VS1 and VS2 are omitted) generated on the virtual grid G are not limited to those composed of straight lines. Based on the position information from the GPS device 83 and the digital map data of the storage medium 62, the control unit 61 may configure the virtual grid G and the surface recall image VS with curves so as to follow the road surface R ahead. For example, not only the slope of the road surface R in the longitudinal direction but also the slope and curvature of the road surface R in the width direction are specified based on the position information from the GPS device 83 and the digital map data of the storage medium 62, and the slope in the width direction is specified. The virtual grid G and the surface recall image VS may be generated in consideration of the curvature and the curvature.

Further, the control unit 61 calculates the expected travel locus of the vehicle 1 according to the detection signals from the steering angle sensor and the yaw rate sensor included in the own vehicle attitude detection unit 82, and follows the calculated travel locus. The virtual grid G and the surface recall image VS may be configured by a curve.

Further, in the above, an example of drawing control of the surface recall image VS with reference to the virtual grid G generated by the control unit 61 has been shown, but the present invention is not limited to this. The drawing control of the surface recall image VS may be performed without going through the virtual grid G. Further, the surface recall image VS may be drawn without using the vanishing point P or the texture gradient as long as the user 4 can recall the surface. The mode in which the face-to-face recall image VS is drawn can be appropriately changed according to the purpose.

Further, an actuator (not shown) may be used to adjust the angle of the screen 30, and the virtual surface A itself may be controlled in parallel with a part of the road surface R in front of the screen 30.

Further, in the housing 50 of the HUD device 100, the display unit that displays the display image that is the source of the display light L is not limited to the combination of the display 10 and the screen 30 made of a reflective display device such as a DMD. The display unit may be composed of a liquid crystal display, an organic EL (Electro Luminescence) display, or the like.

Further, the projection target (translucent member) of the display light L is not limited to the windshield 2 of the vehicle 1, and may be a combiner composed of a plate-shaped half mirror, a hologram element, or the like.

Further, the type of the vehicle 1 on which the HUD device 100 is mounted is not limited, and can be applied to various vehicles such as motorcycles and motorcycles.

(1) The HUD device 100 described above is mounted on the vehicle 1 and projects a display light L representing an image on the translucent member (windshield 2) to set a virtual surface in front of the transmissive member. The image is displayed on A as a virtual image V. The HUD device 100 includes a display unit (for example, a display 10) that emits display light L, and a control unit 61 that controls an image displayed on the virtual surface A by controlling the operation of the display unit. The virtual surface A is set so as to be tilted forward with respect to the vertical direction of the vehicle 1, and the image displayed on the virtual surface A is a surface recall image VS that reminds the surface by a combination of linear or dot image elements E. including. The control unit 61 acquires the traveling speed of the vehicle 1 and displays the surface recall image VS in a moving motion mode in which the image element E moves according to the acquired traveling speed.
Since this is done, as described above, it is possible to perform a display reminiscent of the behavior of the vehicle while ensuring the visibility of the actual scene. Further, since the virtual surface A on which the virtual image V is displayed is set to be tilted forward with respect to the vertical direction of the vehicle 1, the virtual surface A is set to face the user 4 along the vertical direction. Compared with the case, the virtual image V can be displayed without causing the user 4 to feel annoyed as much as possible in comparison with the actual scene.

(2) Further, the image displayed on the virtual surface A includes a notification image (first notification image A1 and second notification image A2) that does not move according to the traveling speed.
(3) Further, the broadcast image includes a second broadcast image V2 as a pseudo standing image that is visually recognized as if it has risen with respect to the face recall image VS.
In this way, by visually recognizing the first notification image V1 and the second notification image V2, which do not move according to the traveling speed, with reference to the surface recall image VS that makes the user feel the movement, the user 4 can see the behavior of the vehicle 1. The first broadcast image V1 and the second broadcast image V2 can be grasped well while making the person feel.

(4) Further, the control unit 61 moves the image element E even when the vehicle 1 is stopped. As a result, even when the vehicle 1 is stopped, the surface recall image VS can be made to feel the movement, and the user 4 can recall the surface without being caught by the front object as much as possible.

(5) Further, the control unit 61 displays the surface recall image VS along the road surface R which is visually recognized forward through the translucent member (display in the normal mode). This enables display using AR (Augmented Reality).

(6) Further, the control unit 61 displays the surface recall image VS along the road surface R in the first aspect (normal mode) and the second aspect in which the surface recall image VS is displayed in a mode different from the first aspect. (Special mode) is switched according to the conditions. In the first aspect, the image element E moves in the direction from the predetermined vanishing point P toward the user 4, and in the second aspect, the image element E moves in a direction different from the first aspect. The image element E moves. Since this is done, it is possible to add an interesting effect and perform various notifications.

(7) Further, when the acquired traveling speed exceeds a predetermined threshold value, the control unit 61 lowers the visibility of the surface recall image VS as compared with the case where the traveling speed exceeds the threshold value. At least one of control is performed to reduce the number of image elements E included in the face-to-face recall image VS. As a result, it is possible to ensure the visibility of the actual scene during high-speed driving.

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

100 ... Head-up display (HUD) device 10 ... Display 21-23 ... 1st to 3rd plane mirror 30 ... Screen, 31 ... Display surface 40 ... Concave mirror 50 ... Housing, 51 ... Translucent cover 60 ... Control device 61 ... control unit, 62 ... storage medium, 63 ... I / F
70 ... Operation unit 81 ... Vehicle speed sensor 82 ... Own vehicle posture detection unit 83 ... GPS device 84 ... Wireless communication unit 85 ... Forward situation detection unit 86 ... ECU
L ... Display light A ... Virtual surface V ... Virtual image VS, VS1, VS2 ... Face recall image E ... Image element, G ... Virtual grid, P ... Vanishing point V1 ... First notification image V2 ... Second notification image R ... Road surface, γ ... Gradient angle, γ1 ... Relative angle, θ ... Own vehicle gradient angle 1 ... Vehicle, 2 ... Windshield, 3 ... Dashboard, 4 ... User

Claims (7)

A head-up display device mounted on a vehicle and projecting display light representing an image onto a translucent member to display the image as a virtual image on a virtual surface set in front of the transmissive member.
The display unit that emits the display light and
A control unit that controls the image displayed on the virtual surface by controlling the operation of the display unit is provided.
The virtual surface is set so as to be tilted forward with respect to the vertical direction of the vehicle.
The image displayed on the virtual surface includes a surface recall image that reminds a surface by a combination of linear or dot image elements.
The control unit acquires the traveling speed of the vehicle and obtains the traveling speed of the vehicle.
The surface recall image is displayed in a moving image mode in which the image element moves according to the acquired traveling speed.
Head-up display device. The image displayed on the virtual surface includes a notification image that does not move according to the traveling speed.
The head-up display device according to claim 1. The broadcast image includes a pseudo standing image that is visually recognized as rising with respect to the surface recall image.
The head-up display device according to claim 2. The control unit moves the image element even when the vehicle is stopped.
The head-up display device according to any one of claims 1 to 3. The control unit displays the surface recall image along the road surface that is visually recognized forward through the translucent member.
The head-up display device according to any one of claims 1 to 4. The control unit switches between a first aspect of displaying the surface recall image along the road surface and a second aspect of displaying the surface recall image in a mode different from the first aspect, depending on the conditions.
In the first aspect, the image element moves in a direction from a predetermined vanishing point toward the viewer.
In the second aspect, the image element moves in a direction different from that of the first aspect.
The head-up display device according to claim 5. When the acquired traveling speed exceeds a predetermined threshold value, the control unit lowers the visibility of the surface recall image as compared with the case where the traveling speed exceeds the threshold value, or the surface. Control at least one of reducing the number of the image elements included in the recall image.
The head-up display device according to any one of claims 1 to 6.

Images