WO2019131296A1

WO2019131296A1 - Head-up display device

Info

Publication number: WO2019131296A1
Application number: PCT/JP2018/046440
Authority: WO
Inventors: 匠佐藤
Original assignee: 日本精機株式会社
Priority date: 2017-12-28
Filing date: 2018-12-18
Publication date: 2019-07-04
Also published as: JPWO2019131296A1; JP7276152B2

Abstract

Provided is a head-up display (HUD) device that can provide a display which enables envisioning of the behavior of a vehicle while ensuring visibility of the actual view. A HUD device 100 is mounted on a vehicle 1, and displays an image as a virtual image V on a virtual screen A which is set in front of a windshield 2 by projecting display light L indicating the image to the windshield 2. The HUD device 100 is provided with: 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 an operation of the display unit. The virtual surface A is set so as to incline forward with respect to the vertical direction of the vehicle 1, and the image displayed on the virtual surface A includes a surface-envisioning image that causes a surface to be envisioned by combining linear or dot image elements. The control unit acquires the traveling speed of the vehicle 1, and displays the surface-envisioning image in a video mode where the image elements move in accordance with the acquired traveling speed.

Description

Head-up display device

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

A head-up display (HUD: Head-Up Display) device that displays an image as a virtual image in front of the light-transmissive member by projecting display light representing the image on a light-transmissive member such as a windshield of a vehicle is, for example, It is disclosed in reference 1.

Although Patent Document 1 discloses the HUD device in FIG. 4A, the vehicle is mainly displayed on the display window of the display provided in the vehicle by directly displaying a stripe pattern that moves according to the vehicle speed. Discloses a display device that transmits the behavior of the vehicle through the driver's vision.

JP 2007-210587 A

Since the HUD device displays an image (virtual image) superimposed on a scene (real scene) such as a road viewed through the light transmitting member, a pattern mainly assuming display on a real screen as in Patent Document 1 is displayed according to the vehicle speed. Just moving it may interfere with the visibility of the real scene.

The present invention has been made in view of the above circumstances, and has an object to provide a head-up display device capable of performing display recalling the behavior of a vehicle while securing the visibility of a real scene.

In order to achieve the above object, a head-up display device according to the present invention is:
A head-up display device mounted on a vehicle and displaying the image as a virtual image on a virtual surface set in front of the light transmitting member by projecting display light representing the image onto the light transmitting member.
A display unit that emits the display light;
A control unit configured to control the image displayed on the virtual surface by controlling the operation of the display unit;
The virtual plane is set to be inclined forward with respect to the vertical direction of the vehicle,
The image displayed on the virtual surface includes an episodic image reminiscent of a surface by a combination of linear or dotted image elements,
The control unit acquires a traveling speed of the vehicle.
The facial image is displayed in the form of a moving image in which the image element moves in accordance with the acquired traveling speed.

According to the present invention, it is possible to perform display that evokes the behavior of a vehicle while securing the visibility of a real scene.

It is a figure which shows the mounting aspect to the vehicle of the head-up display apparatus which concerns on one Embodiment of this invention. It is a schematic side view for explaining the composition of the head up display device concerning one embodiment of the present invention. It is a block diagram showing a head up display device etc. concerning one embodiment of the present invention. It is a schematic diagram for demonstrating the gradient angle etc. of a road surface. (A) is a schematic diagram showing a virtual image displayed superimposed on a road surface seen through a windshield of the vehicle, and (b) is a diagram for explaining each image constituting the virtual image. (A) is a figure for demonstrating a virtual grid, (b) is a figure which shows a memory image. (A) is a figure which shows the facial expression image in special mode, (b) is a figure which shows the example of a display of the virtual image in special mode. It is a flow chart which shows an example of display control processing. (A) And (b) is a figure which shows the facial expression image which concerns on a modification.

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

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

The HUD device 100 emits display light L toward the combined windshield 2. The display light L reflected by the windshield 2 travels toward the user 4 (mainly the driver of the vehicle 1). 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 by placing the viewpoint in the eye box Eb. That is, the HUD device 100 displays the virtual image V in front of the windshield 2. Thus, the user 4 can observe the virtual image V superimposed on the landscape. The virtual image V displays various information on 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.

The HUD device 100 according to the present embodiment is set in front of the windshield 2 as shown in FIG. 1 and at the same time the virtual image A is set on a virtual surface A set to be inclined 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 of the virtual image V. The virtual surface A has a rectangular shape when viewed in the normal direction. For example, in the virtual plane 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 far from the vehicle 1 is at a position of about 10 m (for example 12 m) from the vehicle 1 Set to The virtual surface A and the eye box Eb are preset based on the size of the screen 30, which will be described later, various mirrors in the HUD device 100, and an optical system configured by the windshield 2 subjected to the combiner processing.

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

The display 10 generates and emits the 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, for example, a cold mirror, and is disposed obliquely on the light 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 travels to the screen 30.

The screen 30 is made of, for example, a transmissive screen such as a holographic diffuser, a microlens array, or a diffusion plate. The screen 30 displays an image indicated by the display light L on the display surface 31 on the back side of the surface receiving 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, by tilting the screen 30 forward with respect to the vertical direction of the vehicle 1, the virtual surface A which is a display surface of the virtual image V is set to be inclined forward with respect to the vertical direction of the vehicle 1. In addition, as a method of setting the virtual surface A in this manner, a known method can be appropriately adopted. For example, the inclination and the curvature of the reflection portion positioned on the optical path of the display light L are adjusted. A virtual plane 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. Each of the second plane mirror 22 and the third plane mirror 23 is, for example, a cold mirror. In this embodiment, three flat mirrors 21 to 23 are used as the flat mirrors for folding the light path of the display light L. However, one or more flat mirrors may be used. The number of flat mirrors used and how to fold the light path of the display light L can be appropriately changed according to the design.

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

The housing 50 is formed in a box shape having a light shielding property by a synthetic resin or metal. The housing 50 is provided with an opening for securing the optical path of the display light L, and a translucent cover 51 is attached 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 travels to the windshield 2. Thus, the display light L is emitted from the HUD device 100 toward the windshield 2. By reflecting the display light L on the windshield 2, a virtual image V is displayed in front of the windshield 2 as viewed from the user 4.

The concave mirror may be provided so as to be capable of rotational movement or parallel movement by an actuator (not shown). For example, a 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 and changing 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 the user operation from the operation unit (not shown) or the viewpoint position of the viewer detected by the viewpoint detection unit (not shown).

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

The control device 60 controls the entire 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 through the I / F 63 by, for example, CAN (Controller Area Network). A power supply 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 a ROM (Read Only Memory) including a microcomputer and storing operation programs and various image data, a RAM (Random Access Memory) temporarily storing various calculation results, and the like, and the ROM. A central processing unit (CPU) that executes a stored operation program, a graphics processing unit (GPU) that performs image processing in cooperation with the CPU, and a drive circuit that drives the display unit 10 under control of the CPU and the GPU Have. In particular, the ROM stores an operation program for executing display control processing described later. Note that part of the control unit 61 may be configured by a dedicated circuit such as an application specific integrated circuit (ASIC).

The storage medium 62 is configured of a solid state drive (SSD), a hard disk drive (HDD), a DVD-ROM, a CD-ROM, and the like. The storage medium 62 stores digital map data composed of map information and three-dimensional coordinate information (three-dimensional information) for indicating a track shape. Digital map data includes runway shape data indicating the shape of the runway, height data indicating the reference height of the runway (e.g. above sea level), slope data indicating the inclination in the longitudinal direction of the runway, and inclination in the width direction of the runway It is configured to have various data such as inclination data indicating the curvature of the runway, speed data indicating the speed limit of the runway, and the like for each predetermined position (predetermined latitude and longitude) of the runway. The digital map data is used when the control unit 61 executes a drawing process.

The CPU of the control unit 61 cooperates with the GPU to control display of the display 10 (generation of 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 a display control command from the CPU. For example, the GPU performs control 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. Thus, the control unit 61 performs display control of the virtual image V. In addition, layers are assigned in advance to the respective images constituting the virtual image V, and the control unit 61 can perform individual display control of the respective images.

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. It is a circuit for electrically connecting each of the (Electronic Control Unit) 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, the display system for vehicles is comprised by the HUD apparatus 100 and the following various structures.

The operation unit 70 receives various operations by the user 4 and supplies a signal indicating the content of the received operation to the control unit 61. For example, the operation unit 70 receives an enlargement or reduction operation of the first notification image V1 indicating the map information described later and the like, a switching operation of the display mode of the virtual image V, and 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 detection target (for example, a gear unevenness or a metal protrusion) that rotates in synchronization with the wheel, and supplies the control unit 61 with a vehicle speed signal of a frequency according to the vehicle speed. . The control unit 61 A / D (Analog to Digital) converts the acquired vehicle speed signal, and calculates and acquires the vehicle speed according to the frequency of the vehicle speed signal.

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

The GPS device 83 obtains the latitude and longitude of the current position of the vehicle 1, is provided with a GPS receiving antenna and an amplifier circuit, and is a high frequency signal of a transmission radio wave indicating position information received from an artificial satellite by the receiving antenna. The amplified signal is output to the control unit 61. Based on the position information from the GPS device 83, the control unit 61 reads map information in the vicinity of the current position, data of the runway shape, etc. from the storage medium 62, 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 to perform road-to-vehicle communication. The wireless communication unit 84 includes road information (including slope information indicating the slope angle of various roads through the roadside wireless device installed as an infrastructure. In addition, speed limit, lanes, road widths, intersections, curves, branches) It receives information on the route, etc., and outputs it to the control unit 61. For example, the wireless communication unit 84 acquires road information from a base station for traffic control (for example, a base station of a Driving Safety Support Systems (DSSS)) via a roadside apparatus. The control unit 61 can grasp the gradient angle γ of the road surface R based on the gradient information acquired from the wireless communication unit 84. As shown in FIG. 4, the inclination angle γ indicates the angle between the horizontal plane H and the road surface R. The road surface R is a roadway in front of the vehicle 1 and at least the user 4 can see through the windshield 2 as shown in FIG. 5A.

The front situation detection unit 85 is, for example, an imaging unit (such as a stereo camera) that images the scenery in front of the vehicle 1 (including the road surface R), an image analysis unit that analyzes a pickup image obtained by imaging by the imaging unit, A distance sensor or the like that measures the distance of The front situation detection unit 85 detects various objects in front of the vehicle 1 by analyzing the captured image by a known method such as a pattern matching method. The various objects are information on objects on the road surface R (preceding cars and obstacles), and road shape information (including the slope of the road surface R. Other information on lanes, road widths, intersections, curves, branches, etc.) Etc. The front situation detection unit 85 may be configured to 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, in particular, switches and controls the vehicle 1 in the automatic driving mode and the manual driving mode. Then, the ECU 86 outputs, to the control unit 61, operation mode information indicating whether the vehicle 1 is currently in the manual operation mode or the automatic operation mode. 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 of the main control systems (acceleration, steering, braking). At Level 1, the system assists with 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 more. At level 3, the system accelerates, steers and brakes only in limited environments or traffic conditions, and the driver responds when the system requests it.

In order to properly display the component image of the virtual image V described later, the control unit 61 first sets the setting position of the virtual plane A from the vehicle 1 (for example, several meters from the vehicle 1) on the road ahead of the vehicle 1 The shape of the road surface R in (about several tens of meters) 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 can obtain gradient data that can be acquired based on the position information from the GPS device 83 and the data stored in the storage medium 62, and gradient information acquired from the wireless communication unit 84. Identify based on Further, the control unit 61 specifies the vehicle inclination 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 vehicle 1 by subtracting the vehicle gradient angle θ from the gradient angle γ of the road surface R. The control unit 61 may calculate (estimate) the slope of the road surface R viewed from the host vehicle 1 corresponding to the relative angle γ1 based on the information from the front situation detection unit 85. The inclination of the road surface R detected by the front situation detection unit 85 is based on the captured image obtained by the imaging unit mounted on the vehicle 1 and thus corresponds to the relative angle γ1.

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

As shown in FIGS. 5A and 5B, the virtual image V is configured to include a surface recalled image VS, a first notification image V1, and a second notification image V2.

The virtual image V shown in FIGS. 5 (a) and 5 (b) represents the view from the user 4 (driver) who is seated in the driver's seat of the vehicle 1 (see FIGS. 6 and 7, which will be described later). The same applies to FIG. As described above, since the virtual surface A is set obliquely, in order to make the virtual image V visible to the user 4 as shown in FIGS. 5A and 5B, an image that the user 4 wants to visually recognize from the viewpoint The control unit 61 performs display control of the virtual image V in consideration of the projection onto the virtual plane A of For example, in order to cause the user 4 to visually recognize the rectangular virtual image V facing the user itself, the trapezoidal virtual image V obtained by projecting the rectangle from the viewpoint of the user 4 onto the virtual surface A is displayed. . The respective images constituting the virtual image V described below are subjected to display control in consideration of the fact that the virtual plane A is oblique as described above. Note that, 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 viewpoint detection means (not shown) (such as a camera for imaging the user 4). You may specify suitably based on.

The surface image VS is an image that reminds the user 4 of the surface by the combination of the linear image elements E shown in FIG. 5B, and as shown in FIG. 5A, the road surface in front of the vehicle 1 It is viewed by the user 4 along R.

As described above, the control unit 61 is almost 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 identified, the gradient angle γ of the road surface R that can be calculated, and the relative angle γ1. The display control of the display 10 is performed so that the memory image VS can be viewed in parallel.

The image element E is drawn, for example, according to a virtual grid G shown in FIG. The virtual grid G is generated along the road surface R identified as described above.

The virtual grid G is, for example, a combination of a plurality of lines extending from the set vanishing point P toward the user 4 and a plurality of lines extending in the left-right direction in consideration of perspective. Configured The vanishing point P may be set in advance in consideration of the relationship between the viewpoint position of the user 4 and the virtual plane A, and may be stored in the ROM, or the image analysis of the front situation detection unit 85 The tip of the runway which becomes the visual recognition limit may be specified, and one calculated based on the specified result may be used. Further, as the plurality of lines extending in the left and right direction in the virtual grid G approach the vanishing point P from the user 4 side, the arrangement interval becomes shorter. That is, the pattern of the virtual grid G is set in consideration of the “gradient of the texture” which becomes finer as it goes farther. The virtual grid G is not actually displayed as a virtual image V, and is used for the control unit 61 to draw the co-occurrence image VS.

In this embodiment, as shown in FIG. 6B, the control unit 61 draws linear image elements E so as to be positioned on a plurality of lines from the vanishing point P on the virtual grid G toward the user 4 side. 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 the plurality of lines extending in the horizontal direction in the virtual grid G. As a result, as shown in FIG. 6B, it is possible for the user 4 to recall a face in which a sense of perspective is taken into consideration, as the face-to-face image VS composed of a plurality of linear image elements E.

Further, the control unit 61 displays the face-magnified image VS in a moving image mode in which the image element E is moved according to the traveling speed (vehicle speed) of the vehicle 1 so that the image element E is directed to the user 4. Thereby, the behavior of the vehicle 1 can be transmitted to the user 4 via vision. Further, since the face-magnified image VS is composed of linear (or point-like as described later) image elements E, it is possible to ensure the visibility of the real view.

The first notification image V1 indicates, as shown in FIGS. 5A and 5B, map information in the vicinity of the current location of the vehicle 1 and a guide route. The control unit 61 performs display control of map information in the vicinity of the current location of the vehicle 1 and display of a first notification image V1 indicating a guide route, based on the position information from the GPS device 83 and the digital map data of the storage medium 62. The first notification image V1 is displayed along the virtual grid G generated as described above, that is, along the co-located image VS. The first notification image V1 does not move according to the traveling speed (vehicle speed) as a whole, unlike the face-magnified image VS. When the first notification image V1 includes an own vehicle image representing the current position of the own vehicle 1, the own vehicle image may be moved according to the vehicle speed.

The first notification image V <b> 1 can be enlarged and displayed under the control of the control unit 61 in accordance with the enlargement operation from the operation unit 70 by the user 4. The control unit 61 widens the arrangement pitch in the left-right direction of the image elements E constituting the face-correlated image VS in accordance with the enlarged display of the first notification image V1. As a result, it is possible to feel that the first notification image V1 is displayed in an enlarged manner in conjunction with the memory image VS. In addition, the first notification image V1 can be reduced and displayed under the control of the control unit 61 in accordance with the reduction operation by the user 4 from the operation unit 70. The control unit 61 narrows the arrangement pitch in the left-right direction of the image elements E constituting the face-correlated image VS in accordance with the reduced display of the first notification image V1. As a result, it is possible to make the first notification image V1 appear to be displayed in a reduced size in conjunction with the memory image VS. The control unit 61 may change the arrangement pitch or the 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 notification image V1.

As shown in FIGS. 5A and 5B, the second notification image V2 is, for example, an image for reporting the speed limit of the runway of the vehicle 1. The control unit 61 performs display control of the second notification 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 notification image V2 is displayed on the virtual surface A, when viewed from the user 4, display control of the second notification image V2 is performed on the control unit 61 as a false standing image that is visually recognized as if rising up with respect to the memory image VS. As an example, the second notification image V <b> 2 is viewed by the user 4 substantially directly facing itself. The second notification image V2 also does not move in accordance with the traveling speed (vehicle speed) as a whole, unlike the face-magnified image VS. Note that the second notification image V2 may be a vehicle speed display or the like that represents the vehicle speed detected by the vehicle speed sensor 81 by a numerical value. The vehicle speed display is naturally changed and displayed according to the vehicle speed, but there is no change in not moving according to the vehicle speed.

Although the example shown in FIGS. 5A and 5B shows an example in which the memory image VS is displayed also in the display area of the first notification image V1, the display of the first notification image V1 is shown. In the area, the display luminance or the like of the memory image VS may be lowered to make it difficult to view as compared to other display areas, or the memory image VS may be non-displayed. In addition, the display superiority of the facial image VS, the first notification image V1, and the second notification image V2 may be determined in advance by the layer. For example, the second notification image V2, the first notification image V1, and the memory image VS are selected from the higher display priority (the layer is higher), and the display priority of the memory image VS is set to the lowest, etc. May be

Here, the virtual image V displayed by the HUD device 100 has a characteristic that the appearance changes depending on the superposition target. For example, when there is a building, a leading vehicle, etc. (hereinafter referred to as a front object) in front, in response to the user 4 focusing on them, the virtual image V feels somewhat up for the user 4 Or Therefore, when only the first notification image V1 and the second notification image V2 are displayed as the virtual image V, the appearance may change in this manner. On the other hand, in an image that makes a motion feel, human beings respond sensitively to the motion. Therefore, according to the face-to-face image VS capable of animation according to the vehicle speed, the user 4 can recall a surface without being connected to the front object as much as possible. The HUD device 100 causes the user 4 to perceive the motion image VS thus causing the motion as a reference plane, and causes the first notification image V1 and the second notification image V2 to be visually recognized with respect to the reference surface. Thus, while making the user 4 feel the behavior of the vehicle 1, the first notification image V1 and the second notification image V2 can be visually recognized well.

Further, as shown in FIGS. 5A and 5B, a predetermined switching is performed from a mode (hereinafter, referred to as a “normal mode”) in which the co-found image VS is displayed along the road surface VR (VR). At the moment, the control unit 61 switches the display mode of the virtual image V to the special mode. The virtual image V in the special mode is, as shown in FIG. 7B, that the first notification image V1 represents the map information and the guide route in a plan view, and in accordance with this, the meditation image VS also has a plan view It changes to make it feel. Specifically, the control unit 61 generates the virtual grid G such that the line in the vertical direction and the line 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 a linear image element E so as to be positioned on a plurality of lines extending in the vertical direction in the virtual grid G. Note that, in the special mode related to planar view, it is not necessary to create a sense of perspective, so the control unit 61 draws the memory image VS without considering the vanishing point P or the “gradient of the texture”.

The switching trigger from the normal mode to the special mode is, for example, when the control unit 61 receives a display mode switching operation from the operation unit 70 by the user 4 or that the vehicle 1 has entered the automatic driving mode from the ECU 86. It is sufficient if the operation mode information shown is received. The trigger for switching from the special mode to the normal mode is, for example, when the control unit 61 receives a display mode switching operation from the operation unit 70 by the user 4 or that the vehicle 1 has entered the manual operation mode from the ECU 86. It is sufficient if the operation mode information shown is received. The control unit 61 switches the virtual image V from the special mode to the normal mode or identifies either the normal mode or the special mode when the possibility of danger is specified from the front situation detected by the front situation detection unit 85. May be ended (for example, the first notification image V1 or the memory image VS may be deleted).

In addition, also in the special mode, the control unit 61 sets the face-magnified image VS to the vehicle speed so that the image element E is directed to the user 4 (from downward to above in FIGS. 7A and 7B). Display in the moving picture mode to move accordingly. Although not illustrated, the second notification image V2 may be displayed at an appropriate position also in the special mode.

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

For example, the control unit 61 uses a previously set variable virtual viewpoint (a viewpoint located in a virtual sky) and a digital map in which the projection from the virtual viewpoint to the map plane is stored in the virtual viewpoint and the storage medium 62 A bird's-eye view of the first notification image V1 may be generated by calculation based on the data. In this case, it is sufficient to generate the surface image VS of the bird's-eye view according to the bird's-eye view of the generated first notification image V1. In the virtual grid G used when drawing the face-to-face image VS in a bird's-eye view manner, the vanishing point P may be set within the display area or outside the display area. In any case, the control unit 61 generates a virtual grid G configured by a combination of a plurality of lines extending from the vanishing point P toward the virtual viewpoint and a plurality of lines intersecting the lines, and the generated virtual grid G is generated. What is necessary is just to draw the face-troubled image VS by the linear image element E located on the several line which goes to the virtual viewpoint side from the vanishing point P in the grid G. Also in this case, the pattern of the virtual grid G may be set in consideration of the “gradient of the texture” which becomes finer as it goes farther (closer to the vanishing point P). Further, also in the bird's-eye view, the control unit 61 may display the face-magnified 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 any of the plane mode and the bird's-eye view special mode, the control unit 61 changes the arrangement pitch and the length of the linear image elements E in accordance with the enlargement / reduction display of the first notification image V1. Thus, it may be felt that the first notification image V1 is displayed in an enlarged / reduced size in conjunction with the memory 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 performed, for example, in a predetermined cycle within the on period of the ignition of the vehicle 1. The display control process of the virtual image V in the normal mode shown in FIGS. 5A and 5B will be described below as an example.

(Display control process)
When the display control process is started, the control unit 61 acquires 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 host vehicle posture detection unit 82. Further, the control unit 61 specifies the shape of the road surface R at the setting position of the virtual plane 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 / acquires the inclination angle γ of the road surface, the vehicle inclination angle θ, and the relative angle γ1 of the road surface R with respect to the vehicle 1. Further, the control unit 61 acquires the vanishing point P necessary for the calculation of the virtual grid G from the ROM or calculates it based on the image analysis of the forward situation detection unit 85.

Subsequently, the control unit 61 generates a face-magnified image VS, a first notification image V1, and a second notification image V2, and drives and controls the operation of the display 10 to generate a virtual image V consisting of these various images in a virtual plane. 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 acquired in step S1 and the relative angle γ1, and a linear image on the virtual grid G By drawing the element E, a memory image VS is generated. Further, based on the position information from the GPS device 83 and the digital map data of the storage medium 62, the control unit 61 generates map information in the vicinity of the current location of the vehicle 1 and a first notification image V1 indicating a guide route. Further, the control unit 61 controls the display of the second notification 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 the vehicle 1 is stopped based on the acquired vehicle speed (step S4). Note that whether or not the vehicle 1 is stopped may be determined based on brake information that can be acquired from the ECU 86 or time change of 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 memory image VS in the moving image mode (step S4) S5). For example, the control unit 61 refers to table data indicating the moving speed of the image element E stored in advance in the ROM and associated with the vehicle speed, and acquires the moving speed according to the vehicle speed acquired in step S3. Note that the vehicle speed acquired in step S3 may be used as the traveling speed as it is, or the coefficient α (0 <α <1 or α> 1) may be predetermined for the vehicle speed acquired in step S3. The moving speed of the image element E may be calculated by multiplying.

Subsequently, the control unit 61 drives and controls the display unit 10, and displays the cofound image VS in the moving image mode so that the image element E is directed to the user 4 at the moving speed calculated in step S5 (step S6) . In other words, the face image VS is displayed in a moving picture mode in which the image element E moves in accordance with 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 causes the image element E to go to the user 4 at the set speed stored in the ROM in advance. Thus, the image is displayed in the form of a moving image (step S8). As a result, even when the vehicle 1 is stopped, motion can be felt in the memory image VS, and the user 4 can recall a surface without being connected to the front object as much as possible. After execution of step S8, the control unit 61 returns to step S1 and executes the process.

The moving speed of the image element E at the time of stopping may be the moving speed immediately before stopping (that is, the moving speed calculated at step S5 immediately before it is determined as Yes at step S4). When the vehicle is at a stop, 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 the vehicle speed acquired in step S3 exceeds a threshold value stored in advance in the ROM (step S7). The threshold is a threshold for determining whether the vehicle is traveling at a high speed. If the vehicle speed is equal to or less than the threshold (step S7; No), the control unit 61 returns to step S1 and executes the process.

On the other hand, when the vehicle speed exceeds the threshold (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 securing 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 the visibility securing process, the control unit 61 reduces the visibility of the face-magnified image VS (for example, reduces the display brightness, decreases the lightness and saturation, etc.) than when the vehicle speed is equal to or less than the threshold. At least one control of reducing the number of image elements E included in the memory image VS is performed. After the process of step S9, the control unit 61 returns to step S1 and executes the process. The above is display control processing. Even when the display mode of the virtual image V is switched from the normal mode to the plane mode or the bird's eye view special mode during 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 by the above embodiment and the drawings. Changes (including deletion of components) can be made as appropriate without changing the scope of the present invention.

(Modification)
In the above example, although the example in which the face-to-face image VS is configured by linear image elements E located on a line from the vanishing point P to the user 4 side in the virtual grid G is shown, the present invention is not limited thereto.

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 to the user 4 side in the virtual grid G and a line extending in the left-right direction It may be a lattice-like memory image VS1. As shown in FIG. 9A, the face-magnified image VS1 may be superimposed on at least a part of a plurality of lines forming the virtual grid G, or the configuration of the virtual grid G, although not shown. It may coincide with all of the plurality of lines. In addition, as shown in FIG. 9B, it may be a memory image VS2 composed of a plurality of cross-shaped image elements E superimposed on the lines forming the virtual grid G. Further, as described above, the invention is not limited to the combination of the linear image elements E, but if it is possible to recall the face to the user 4, a combination of the dot image elements or the linear image elements and the dot image elements The combination of may constitute a memory image.

Further, the virtual grid G and the coplanar images VS, VS1, VS2 (hereinafter, the symbols VS1 and VS2 are omitted) generated on the virtual grid G are not limited to those configured by straight lines. The control unit 61 may configure the virtual grid G and the epigram VS as curves along the road surface R ahead based on the position information from the GPS device 83 and the digital map data of the storage medium 62. For example, not only the gradient in the longitudinal direction of the road surface R ahead but also the inclination and curvature in the width direction of the road surface R are specified based on the position information from the GPS device 83 and the digital map data of the storage medium 62, and the inclination in the width direction The virtual grid G or the memory image VS may be generated in consideration of the curvature and the curvature.

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

Furthermore, although the example has been described above, in which the drawing control of the memory image VS is performed based on the virtual grid G generated by the control unit 61, the present invention is not limited thereto. It is also possible to control the drawing of the memory image VS without the intervention of the virtual grid G. In addition, as long as the face image can be reminded to the user 4, the face image VS may be drawn without using the vanishing point P or the gradient of the texture. Depending on the purpose, the manner in which the memory image VS is drawn can be changed as appropriate.

Alternatively, the angle of the screen 30 can be adjusted by an actuator (not shown), and the virtual plane A itself may be controlled in parallel with a part of the road surface R in front.

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

Further, the projection target (light transmitting member) of the display light L is not limited to the front glass 2 of the vehicle 1 and may be a combiner configured by a plate-like half mirror, a hologram element, and the like.

Further, the type of the vehicle 1 on which the HUD device 100 is mounted is not limited, and the invention can be applied to various vehicles such as a four-wheeled motor vehicle and a two-wheeled motor vehicle.

(1) The HUD device 100 described above is mounted on the vehicle 1, and projects the display light L representing an image on the light transmitting member (front glass 2) to form a virtual surface set in front of the light transmitting member Display an image as a virtual image V on A. The HUD device 100 includes a display unit (for example, the 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 to be inclined forward with respect to the vertical direction of the vehicle 1, and the image displayed on the virtual surface A is a surface-induced image VS that evokes a surface by a combination of linear or dotted image elements E. including. The control unit 61 acquires the traveling speed of the vehicle 1 and displays the face-correlated image VS in a moving picture mode in which the image element E moves in accordance with the acquired traveling speed.
Since this is done, as described above, it is possible to perform display that evokes the behavior of the vehicle while securing the visibility of the real scene. Further, since the virtual plane A on which the virtual image V is displayed is set to be inclined forward with respect to the vertical direction of the vehicle 1, the virtual plane A is set to face the user 4 along the vertical direction. In comparison with a real scene, the virtual image V can be displayed without making the user 4 feel as annoying as possible.

(2) Further, the image displayed on the virtual surface A includes a notification image (the first notification image A1 and the second notification image A2) that does not move according to the traveling speed.
(3) Further, the notification image includes the second notification image V2 as a false standing image that is visually recognized as if it has risen with respect to the co-found image VS.
As described above, the user 4 is made to behave as if the first notification image V1 and the second notification image V2 that do not move according to the traveling speed are visually recognized on the basis of the copious image VS causing the user to feel movement. While making the user feel, the first notification image V1 and the second notification image V2 can be grasped well.

(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, motion can be felt in the memory image VS, and the user 4 can recall a surface without being connected to the front object as much as possible.

(5) Further, the control unit 61 displays the memory image VS so as to follow the road surface R that is viewed in front of the light-transmissive member through the light-transmissive member (display in the normal mode). Thereby, display using AR (Augmented Reality) is possible.

(6) In addition, the control unit 61 displays the facial appearance image VS in a mode different from the first mode (the normal mode) in which the facial appearance image VS is displayed along the road surface R and the second mode. In the first mode, the image element E moves in the direction from the predetermined vanishing point P toward the user 4 in the first mode, and in the second mode, in the direction different from the first mode. Image element E moves. Since this is done, it is possible to perform various types of notification by adding interesting effects.

(7) Further, if the acquired traveling speed exceeds a predetermined threshold, the control unit 61 may lower the visibility of the memory image VS compared to the case where the traveling speed is equal to or less than the threshold, Control of at least one of reducing the number of image elements E included in the facial image VS is performed. Thereby, the visibility of the real view at the time of high speed traveling can be secured.

In the above description, in order to facilitate understanding of the present invention, the description of known technical matters is appropriately omitted.

DESCRIPTION OF SYMBOLS 100 ... Head-up display (HUD) apparatus 10 ... Display 21-23 ... 1st-3rd plane mirror 30 ... Screen, 31 ... Display surface 40 ... Concave mirror 50 ... Housing | casing, 51 ... Translucent cover 60 ... Control apparatus 61 ... Control unit, 62 ... Storage medium, 63 ... I / F
70 Operation unit 81 Vehicle speed sensor 82 Self attitude 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 ... inclination angle, γ 1 ... relative angle, θ ... vehicle inclination angle 1 ... vehicle, 2 ... windshield, 3 ... dashboard, 4 ... user

Claims

A head-up display device mounted on a vehicle and displaying the image as a virtual image on a virtual surface set in front of the light transmitting member by projecting display light representing the image onto the light transmitting member.
A display unit that emits the display light;
A control unit configured to control the image displayed on the virtual surface by controlling the operation of the display unit;
The virtual plane is set to be inclined forward with respect to the vertical direction of the vehicle,
The image displayed on the virtual surface includes an episodic image reminiscent of a surface by a combination of linear or dotted image elements,
The control unit acquires a traveling speed of the vehicle.
Displaying the facial image in a moving picture mode in which the image element moves in accordance with 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 notification image includes a false standing image that is viewed as if it has risen with respect to the face-triggered image.
The head-up display device according to claim 2.
The control unit moves the image element even when the vehicle stops.
A head-up display device according to any one of claims 1 to 3.
The control unit displays the surface recalled image along a road surface that is viewed in front of the light-transmissive member through the light-transmissive member.
A head-up display device according to any one of claims 1 to 4.
The control unit switches, according to a condition, a first mode for displaying the maze image along the road surface and a second mode for displaying the maze image in a mode different from the first mode,
In the first aspect, the image element moves in a direction from the predetermined vanishing point toward the viewer.
In the second aspect, the image element moves in a direction different from the first aspect.
The head-up display device according to claim 5.
When the acquired traveling speed exceeds a predetermined threshold, the control unit may lower the visibility of the surface recalled image or the surface compared to when the traveling speed is equal to or less than the threshold. Control at least one of reducing the number of image elements included in the recall image
A head-up display device according to any one of claims 1 to 6.