WO2020201800A1 - Control device for display device, terminal, program, computer-readable recording medium, and control method for display device - Google Patents

Abstract

This control device (3) for a display device (2), which can be mounted by an occupant of a mobile body (100) and display a virtual object to the occupant, includes: an acceleration acquisition unit (31) which acquires acceleration of the display device (2) from a detection unit (21) included in the display device (2); and display control units (32–34) which control the display device (2), wherein the display control units (32–34) extract acceleration accompanying a movement of the occupant from the acceleration of the display device (2) by using information about the acceleration of the mobile body (100), calculates a display position of the virtual object on the display device (2) on the basis of the acceleration accompanying the movement of the occupant, and display the virtual object at a display position (2).

Description

Display control devices, terminals, programs, computer-readable recording media, and display device control methods

The present invention relates to a control device for a display device, a terminal, a program, a computer-readable recording medium, and a control method for the display device.

A display device that can be worn by a user and displays a virtual object to the user is known. This type of display device includes a sensor that detects the acceleration of the display device. The display device calculates the display position on the display device based on the acceleration of the display device detected by the sensor. Then, the display device displays the virtual object at the calculated display position, so that the virtual object is displayed at a fixed position in the virtual space or the real space regardless of the movement of the user.

When the above display device is used in a moving body, the factors that cause acceleration in the display device include the behavior of the moving body in addition to the movement of the occupant. Therefore, the above sensor appropriately adjusts the acceleration accompanying the movement of the occupant. Cannot be detected. Therefore, when the display device is used in the moving body, there is a problem that the virtual object cannot be displayed at a fixed position in the virtual space or the real space.

The problem to be solved by the present invention is that when a virtual object display device is used in a moving body, the virtual object is displayed at a fixed position in the virtual space or the real space regardless of the behavior of the moving body. It is an object of the present invention to provide a control device for a display device, a terminal, and a control method for the display device.

The present invention acquires the acceleration of the display device from the detection unit included in the display device that displays the virtual object, and extracts the acceleration associated with the movement of the occupant from the acceleration of the display device by using the information on the acceleration of the moving body. , The above problem is solved by calculating the display position of the virtual object on the display device based on the acceleration accompanying the movement of the occupant and displaying the virtual object at the calculated display position.

According to the present invention, a virtual object can be displayed at a fixed position in the virtual space or the real space regardless of the behavior of the moving object.

FIG. 1 is a configuration diagram showing an example of a virtual object display system including a control device for the display device according to the first embodiment. FIG. 2 is a flowchart showing a display process of a virtual object executed by the control device according to the first embodiment. FIG. 3 is a diagram for explaining a case where the terminal according to the comparative example is used in the interior of the vehicle. FIG. 4 is a configuration diagram showing an example of a virtual object display system including a control device for the display device according to the second embodiment. FIG. 5 is a flowchart showing a display process of a virtual object executed by the control device of the display device according to the second embodiment. FIG. 6 is a configuration diagram showing an example of a virtual object display system including a control device for the display device according to the third embodiment. FIG. 7 is a flowchart showing a display process of a virtual object executed by the control device of the display device according to the third embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<< First Embodiment >>
FIG. 1 is a configuration diagram showing an example of a virtual object display system including the control device 3 in the present embodiment. The system of the present embodiment is a system for displaying a virtual object to a moving occupant. In the present embodiment, a vehicle will be described as an example of the moving body, but the type of the moving body is not limited to the vehicle. For example, the system of the present embodiment can be applied to other mobile objects such as bicycles, motorcycles, trains, airplanes, ships, and wheelchairs.

As shown in FIG. 1, the terminal 1 of the present embodiment is used indoors of the vehicle 100. The subject who uses the terminal 1 is the occupant (human) of the vehicle 100. The terminal 1 of the present embodiment has a form that can be worn by an occupant. Further, the display device 2 is incorporated in the terminal 1, and the terminal 1 is a device for displaying a virtual object on the display device 2. As a result, the occupant using the terminal 1 can visually recognize the virtual object displayed on the display device 2 in the interior of the vehicle 100. Details of the virtual object and the display device 2 will be described later. Examples of the terminal 1 include a head-mounted display (Head Mounted Display: HMD) that can be attached to the head of an occupant. The terminal 1 is also referred to as a wearable terminal.

Further, although FIG. 1 shows one terminal 1, the number of terminals 1 in the present embodiment is not particularly limited, and the system of the present embodiment may be composed of a plurality of terminals 1. it can. For example, the occupant sitting in the driver's seat and the occupant sitting in the passenger seat may each use the terminal 1. In the following description, the configuration of one terminal 1 will be described as an example, but the same configuration can be applied to the other terminals 1 used in the interior of the vehicle 100.

Here, the virtual object will be described. A virtual object is a two-dimensional model (also referred to as a 2D model, 2D CG, etc.) or a three-dimensional model (also referred to as a 3D model, 3D CG, etc.) arranged in a virtual space or a real space, and refers to a computer. It is an image generated by using. That is, the occupant who uses the terminal 1 can visually recognize the virtual object but cannot touch the virtual object.

The type and form of the virtual object differ depending on the purpose of the terminal 1. In the present embodiment, the type and form of the virtual object are not particularly limited. For example, the virtual object includes both a still image and a moving image. Further, the virtual object includes, for example, an image of a real person in addition to a virtual object (for example, an animation character) that does not actually exist. Further, in addition to the object indicating a person, the virtual object also includes an object of an object such as a guide display board at an intersection. In the present embodiment, the control device 3 described later will be described as an example as a subject for generating the virtual object.

Next, each configuration of the system of the present embodiment will be described with reference to FIG. First, the vehicle 100 will be described. The vehicle 100 in the present embodiment is a vehicle capable of autonomous driving. As the vehicle 100, any one of two types of automobiles can be used. One of the automobiles is an automobile equipped with a navigation device and having a function of automatically controlling driving control (speed control and steering control), and is a human-driven automobile. The other vehicle is a vehicle equipped with a navigation device and automatically controlling driving control, and is an unmanned vehicle. In the present embodiment, the vehicle 100 will be described as a vehicle equipped with a navigation device and automatically controlling travel control and driving unmanned. An example of a vehicle 100 having such a function is a robot taxi.

Next, the terminal 1 will be described. As described above, the terminal 1 has a form that can be worn by an occupant (for example, a head-mounted display system). A specific example of the terminal 1 is VR goggles. VR goggles are a type of head-mounted display. VR goggles are devices that can display virtual objects placed in a virtual space and allow the wearer to experience them as if they were real. The terminal 1 is not limited to a device or device that can be worn on the face or head of an occupant, and may be a device or device that can be worn on other places.

As shown in FIG. 1, the terminal 1 includes a display device 2 and a control device 3. Next, each configuration of the terminal 1 will be described.

The display device 2 is a device that displays a virtual object to a user (occupant of the vehicle 100) who is wearing the terminal 1. In the present embodiment, the display device 2 is incorporated in the terminal 1, and it is impossible to separate the display device 2 from the terminal 1. The display device 2 has a detection unit 21 and a display unit 22.

The detection unit 21 is a sensor that detects the movement of the head of the occupant wearing the terminal 1. Examples of the detection unit 21 include a 9-axis sensor. The 9-axis sensor is a motion sensor that detects acceleration (3 axes), angular velocity (3 axes), and geomagnetism (3 axes). For example, when the terminal 1 is mounted on the occupant's head, the detection unit 21 detects the movement of the occupant's head, including changes in speed, acceleration, angular velocity, orientation, and orientation of the occupant's head. .. As a result, the detection unit 21 detects the front-back, left-right, and up-down accelerations of the occupant's head. The acceleration detected by the detection unit 21 is composed of directions indicated by three axes (x-axis, y-axis, z-axis) and numerical values in each direction. Hereinafter, the acceleration detected by the detection unit 21 will be referred to as the acceleration of the display device 2. The acceleration of the display device 2 detected by the detection unit 21 is output to the control device 3.

The display unit 22 is a part for displaying a virtual object and is a part of the display device 2. Examples of the display unit 22 include a display and goggles. The specifications of the display and goggles are not particularly limited. For example, when the terminal 1 is a VR goggles, the display unit 22 uses goggles equipped with a dial function capable of adjusting the focal length, the interpupillary distance, and the like. .. Such goggles include a display and a lens for stereoscopic viewing.

Display information is input to the display device 2 from the control device 3 described later. The display device 2 displays the virtual object at an appropriate position on the display unit 22 according to the display information. The display information includes information on the display position of the virtual object on the display device 2 and information on the virtual object. Examples of the information on the display position of the virtual object include information on the coordinates of the x-axis, the y-axis, and the z-axis. In addition to the type of virtual object, the virtual object information includes information on the space in which the virtual object is placed (for example, information on the real space, information on the virtual space, etc.). When the display device 2 displays an appropriate virtual object on the display unit 22, the occupant wearing the terminal 1 can visually recognize the virtual object arranged in the virtual space or the real space.

Next, the control device 3 will be described. The control device 3 is composed of a computer equipped with hardware and software, and is accessible to a ROM (Read Only Memory) that stores the program and a CPU (Central Processing Unit) that executes the program stored in the ROM. It is composed of a RAM (Random Access Memory) that functions as a storage device. The acceleration acquisition unit 31, acceleration separation unit 32, display position calculation unit 33, and virtual object display unit 34 of the control device 3 shown in FIG. 1 correspond to a CPU, and the memory 35 of FIG. 1 corresponds to a ROM and RAM. ..

As shown in FIG. 1, the control device 3 includes an acceleration acquisition unit 31, an acceleration separation unit 32, a display position calculation unit 33, and a virtual object display unit 34, and these blocks are established in the ROM. Each function described later is realized by the software.

The function of the acceleration acquisition unit 31 will be described. The acceleration acquisition unit 31 acquires the acceleration of the display device 2 detected by the detection unit 21 of the display device 2. As described above, the detection unit 21 detects the front-back, up-down, and left-right accelerations of the occupant's head, respectively. The acceleration acquisition unit 31 acquires acceleration information in each direction from the detection unit 21. When the terminal 1 is used indoors of the vehicle 100 as in the present embodiment, the acceleration of the display device 2 detected by the detection unit 21 includes the acceleration accompanying the movement of the occupant and the behavior of the vehicle 100. The accompanying acceleration is included.

Here, the factors that cause acceleration in the display device 2 will be described. Factors that cause acceleration in the display device 2 include not only the movement of the user wearing the terminal 1 but also the environment in which the terminal 1 is used. For example, when the user uses the terminal 1 at home, the head of the user moves due to the movement of the user wearing the terminal 1, and the display device 2 is accelerated. On the other hand, when the terminal 1 is used indoors of the vehicle 100 as in the present embodiment, for example, even if the occupant wearing the terminal 1 is stationary and the occupant does not move his / her head. Due to the behavior of the vehicle 100, the head of the occupant is moved in either direction, and acceleration is generated in the display device 2.

The behavior of the vehicle 100 includes the behavior caused by the driving operation of the vehicle 100 and the behavior caused by the external environment. Examples of the behavior caused by the driving operation of the vehicle 100 include acceleration of the vehicle 100 by the accelerator operation, deceleration of the vehicle 100 by the brake operation, right and left turn of the vehicle 100 by the steering operation, and the like. For example, when the vehicle 100 starts from a stopped state, the vehicle 100 accelerates by operating the accelerator. A force is applied to the occupant as the vehicle 100 accelerates, and the display device 2 generates acceleration in the traveling direction of the vehicle 100 (also referred to as the front-rear direction of the vehicle 100). Further, for example, when the vehicle 100 decelerates, the vehicle 100 decelerates by operating the brake. A force is applied to the occupant due to the deceleration of the vehicle 100, and the display device 2 is accelerated in the traveling direction. The direction of the acceleration generated in the display device 2 due to the acceleration of the vehicle 100 and the direction of the acceleration generated in the display device 2 due to the deceleration of the vehicle 100 are opposite to each other. Further, for example, in a scene where the vehicle 100 turns left at an intersection, the vehicle 100 turns left by steering operation. Centrifugal force is applied to the occupant due to the left turn of the vehicle 100, and the display device 2 is accelerated to the right with respect to the traveling direction. In addition, as another example of the behavior caused by the driving operation of the vehicle 100, vibration due to idling can be mentioned. In this case, at least the vertical acceleration of the vehicle 100 is generated in the display device 2.

Further, as a scene in which acceleration is generated in the display device 2 due to the external environment, for example, a scene in which the vehicle 100 passes a step on the road surface such as a speed bump can be mentioned. For example, even if the vehicle 100 is traveling at a constant speed without accelerating, when passing through the speed bump, the vehicle 100 moves up and down due to the step of the speed bump. Even in a situation where the occupant is stationary and the acceleration associated with the movement of the occupant is not generated, and the occupant is traveling at a constant speed and the acceleration associated with the driving operation of the vehicle 100 is not generated. A force is applied to the external environment, and acceleration is generated in the display device 2. In the scene of the above example, the display device 2 generates acceleration in the vertical direction of the vehicle 100.

Next, the function of the acceleration separation unit 32 will be described. The acceleration separation unit 32 separates the acceleration of the display device 2 into the acceleration accompanying the movement of the occupant and the acceleration accompanying the behavior of the vehicle 100 by using the information regarding the acceleration of the vehicle 100, and the movement of the occupant is separated from the acceleration of the display device 2. Extract the acceleration that accompanies. For example, the acceleration separation unit 32 uses an acceleration separation / extraction model as information regarding the acceleration of the vehicle 100. The acceleration separation unit 32 executes a filtering process of the acceleration accompanying the movement of the occupant from the acceleration of the display device 2 by using the acceleration separation / extraction model.

The acceleration separation / extraction model is a calculation model in which the acceleration of the display device 2 is used as an input value, the acceleration associated with the movement of an occupant, and the acceleration associated with the behavior of the vehicle 100 are used as output values. For example, the acceleration separation / extraction model is stored in the memory 35 in advance. When the acceleration of the display device 2 is acquired by the acceleration acquisition unit 31, the acceleration separation unit 32 reads the acceleration separation / extraction model from the memory 35. Then, the acceleration separation unit 32 causes the acceleration separation / extraction model to input the acceleration of the display device 2. Then, the acceleration separation unit 32 acquires the acceleration associated with the movement of the occupant among the accelerations output from the model.

The acceleration separation / extraction model is generated by machine learning, for example. For example, a plurality of image pickup devices are provided at different locations in the interior of the vehicle 100, and the occupant is imaged from various angles by the image pickup device while the vehicle 100 is traveling. The acceleration separation unit 32 executes image processing on each of the plurality of captured images, and calculates the acceleration (x-axis, y-axis, z-axis) accompanying the movement of the occupant. When calculating the acceleration based on the captured image, for example, a technique such as motion capture is used.

The acceleration separation unit 32 accumulates acceleration information based on the captured image, analyzes the data, and generates an acceleration separation / extraction model. When calculating the acceleration using the captured image, it is possible to calculate the acceleration linked to the movement of the occupant as compared with the case where the acceleration is calculated using a measuring instrument such as a sensor. Therefore, in this embodiment, the acceleration based on the captured image is used as reference information when creating the acceleration separation / extraction model. In addition, unlike the present embodiment, a method of calculating the acceleration accompanying the movement of the occupant as it is can be considered by using the motion capture technique without using the acceleration separation / extraction model. However, in this case, it is necessary to provide a plurality of imaging devices in the interior of the vehicle 100, and there is a concern that the cost will increase. Therefore, in the present embodiment, it is used as reference information when machine learning the acceleration based on the imaging device.

The method for generating the acceleration separation / extraction model is an example and is not particularly limited. Further, the method of acquiring the acceleration separation / extraction model is not limited to the acquisition from the memory 35. For example, the control device 3 may receive the model from an external server via a communication device (not shown).

Next, the function of the display position calculation unit 33 will be described. The display position calculation unit 33 calculates the display position of the virtual object in the display device 2 based on the acceleration accompanying the movement of the occupant. The acceleration associated with the movement of the occupant is the acceleration extracted from the acceleration of the display device 2 by the acceleration separation unit 32. The display position of the virtual object on the display device 2 is a position on the display unit 22 of the display device 2, and is represented by coordinates, for example.

Further, the display position calculation unit 33 calculates the display position of the virtual object according to the type of the space in which the virtual object is arranged. For example, when displaying a virtual object in the real space, the display position calculation unit 33 calculates the display position of the virtual object with reference to the coordinates in the real space. Further, when the virtual object is displayed in the virtual space, the display position calculation unit 33 calculates the display position of the virtual object with reference to the coordinates in the virtual space.

Further, the display position calculation unit 33 calculates the display position of the virtual object so that the virtual object is displayed at a fixed position in the virtual space or the real space. A certain position in the virtual space or the real space is a position where the occupant can experience the virtual object as if it is fixed at a specific position in the virtual space or the real space. .. For example, when the occupant sitting in the driver's seat is wearing the terminal 1, the display position calculation unit 33 calculates the display position of the virtual object so that the occupant has the virtual object in the passenger seat. In this case, the display position calculation unit 33 calculates the position corresponding to the passenger seat in the display device 2 as the display position of the virtual object. As a result, when the above-mentioned occupant faces the passenger seat, the occupant can obtain a feeling that the virtual object exists at a position corresponding to the passenger seat via the terminal 1. Further, when the occupant faces the front of the vehicle 100, the passenger seat disappears from the occupant's field of view, and the virtual object is not displayed on the display device 2.

Next, the function of the virtual object display unit 34 will be described. The virtual object display unit 34 controls the display device 2 so that a predetermined virtual object is displayed at a specific position calculated by the display position calculation unit 33. For example, the virtual object display unit 34 outputs information indicating the contents of the virtual object to be displayed and information associated with the display position of the virtual object to the display device 2 as display information.

The contents of the virtual object and the space in which the virtual object is placed differ depending on the usage of the terminal 1. For example, when an application for guiding the traveling route of the vehicle 100 is installed in the terminal 1, the virtual object includes an object indicating information on the intersection in front, an object of a character that guides the traveling route by voice, and the like. It can be illustrated. Further, in this case, the space in which the virtual object is displayed is the real space. In the virtual object display unit 34, a virtual object is arranged in a real space (a real world that the occupant can see through the terminal 1), and the user is made to experience augmented reality (AR) as if the reality was expanded. ) Technology is used.

In the description of the virtual object display unit 34, the augmented reality technology has been used, but the virtual object display unit 34 uses a virtual reality (VR) technology that allows the user to experience as if it were a reality. It may be used to place a virtual object in a virtual space (a virtual world generated by a computer). In the present embodiment, the technology at the time of filing the present application can be appropriately used for the VR or AR technology.

Next, the display processing of the virtual object executed by the control device 3 according to the present embodiment will be described with reference to FIG. FIG. 2 is a flowchart showing a display process of a virtual object executed by the control device 3 according to the present embodiment. The control device 3 repeatedly executes the process shown in FIG. 2 at predetermined cycles. As shown in FIG. 1, it is assumed that the terminal 1 is used in the room of the vehicle 100.

In step S11, the control device 3 acquires the acceleration of the display device 2 from the detection unit 21 of the display device 2. The acceleration of the display device 2 includes an acceleration associated with the movement of the occupant wearing the terminal 1 and an acceleration associated with the behavior of the vehicle 100. Further, the acceleration of the display device 2 includes acceleration in the front-back, left-right, and up-down directions of the display device 2. Further, the acceleration of the display device 2 detected by the detection unit 21 is expressed as an acceleration with time as a variable.

In step S12, the control device 3 executes a process for removing noise with respect to the acceleration of the display device 2 acquired in step S11. For example, the control device 3 uses a Kalman filter to remove noise included in the acceleration of the display device 2.

In step S13, the control device 3 executes a time-frequency analysis with respect to the acceleration of the display device 2 from which noise has been removed in step S12. For example, the control device 3 uses a short-time Fourier transform (Short-Time Fourier Transform: STF) or a discrete Fourier transform (Discrete Fourier Transform: DFT) to set the acceleration of the display device 2 with time as a variable and the frequency as a variable. It is converted into the acceleration of the display device 2. For example, the acceleration of the display device 2 after the processing of step S13 is represented as a frequency spectrum.

In step S14, the control device 3 separates the acceleration due to the movement of the occupant from the acceleration due to the behavior of the vehicle 100 from the acceleration of the display device 2 converted in step S13 by using the acceleration separation / extraction model. Extract the acceleration that accompanies the movement. For example, the acceleration separation / extraction model is a model stored in advance in the memory 35 and is a model generated by machine learning. The acceleration associated with the movement of the occupant extracted in this step is expressed as an acceleration with the frequency as a variable.

In step S15, the control device 3 executes an inverse Fourier transform on the acceleration associated with the movement of the occupant extracted in step S14, and converts the acceleration associated with the movement of the occupant into a signal from the frequency spectrum with time as a variable. Reconfigure. The acceleration associated with the movement of the occupant after the process of step S15 is expressed as an acceleration with time as a variable.

In step S16, the control device 3 calculates the display position of the virtual object in the display device 2 based on the acceleration accompanying the movement of the occupant reconstructed in step S15. The control device 3 calculates the display position of the virtual object according to the type of the space in which the virtual object is arranged. Further, the control device 3 calculates the display position of the virtual object so that the virtual object is displayed at a fixed position in the virtual space or the real space. When a plurality of virtual objects exist, the control device 3 calculates the display position of the virtual object for each virtual object.

In step S17, the control device 3 outputs the information related to the display position calculated in step S16 and the information of the virtual object to be displayed at the display position to the display device 2 as display information, and outputs the virtual object to the display device 2. Is displayed. When the process in step S17 is completed, the display process of the virtual object executed by the control device 3 is completed.

Next, with reference to FIG. 3, the actions and effects performed by using the terminal 1 of the present embodiment will be described. Figure 3 is a diagram for explaining a case where the terminal 1 according to the comparative example in a room of the vehicle 100 ^'is used. The driver's seat of the vehicle 100, occupant U wearing the terminal 1 ^'of the comparative example is stationary in the driver's seat, the vehicle 100 is assumed to be traveling by autonomous. FIG. 3 is a plan view of the vehicle 100 in the scene. Note that FIG. 3 shows the interior of the vehicle 100 for convenience of explanation.

Terminal 1 according to the comparative example ^', as compared with the terminal 1 of the present embodiment, except that not provided with the acceleration separation unit 32 to the control unit 3, the same configuration as the terminal unit 1 of the present embodiment Suppose you have. That is, the control unit of the terminal 1 ^'of the comparative example, on the basis of the acceleration of the display device, it calculates the display position of the virtual object OB on the display device to display the virtual object OB on the display position. Thus, in the example shown in FIG. 3, the occupant U wearing the terminal 1 ^'of the comparative example, as if the virtual object OB leftward in the traveling direction of the steering feels to be positioned.

However, when the vehicle 100 travels autonomously, acceleration is generated in a predetermined direction on the display device according to the comparative example due to the behavior of the vehicle 100. Then, the control device according to the comparative example calculates the display position of the virtual object in the display device based on the generated acceleration, and displays the virtual object OB at the display position. Therefore, as shown in FIG. 3, even if the occupant U himself is stationary in the interior of the vehicle 100, the display position of the virtual object OB moves in the front-rear and left-right directions of the vehicle 100 according to the behavior of the vehicle 100. It ends up. This is the terminal 1 ^'according to the comparative example, even though controls try to display the virtual object OB in a fixed position in the virtual space or real space, acceleration occurs in the display device 2 This is because only the movement of the wearer of the terminal is assumed as a factor.

On the other hand, the control device 3 of the display device 2 according to the present embodiment acquires the acceleration of the display device 2 from the detection unit 21 included in the display device 2, and separates / extracts the acceleration as information on the acceleration of the vehicle 100. Using the model, the acceleration accompanying the movement of the occupant is extracted from the acceleration of the display device 2. Then, the control device 3 calculates the display position of the virtual object in the display device 2 based on the acceleration accompanying the movement of the extracted occupant, and displays the virtual object at the calculated display position. As a result, for example, even if acceleration is generated in the display device 2 due to the behavior of the vehicle 100, the control device 3 can display the virtual object at a fixed position in the virtual space or the real space. In other words, the virtual object can be displayed at a fixed position in the virtual space or the real space regardless of the behavior of the vehicle 100. As a result, even if the occupant is looking at the virtual object through the terminal 1 in the room of the vehicle 100, it is possible to prevent the occupant from giving a sense of discomfort such as the virtual object moving. A terminal 1 that displays a virtual object can be used in the interior of the vehicle 100.

In the example of FIG. 3, instead of the terminal 1 ^'of the comparative example, the case of using the terminal 1 according to this embodiment. In the terminal 1 according to the present embodiment, even if acceleration is generated in the display device 2 due to the behavior of the vehicle 100, the control device 3 causes the virtual object to be displayed at a fixed position in the virtual space or the real space. be able to. As a result, the occupant U equipped with the terminal 1 can feel as if the virtual object OB is fixed on the left side in the traveling direction of the steering wheel.

<< Second Embodiment >>
Next, the terminal 1a including the control device 13 according to the second embodiment will be described. FIG. 4 is a configuration diagram showing an example of a virtual object display system including the control device 13 according to the second embodiment.

The system of this embodiment includes a terminal 1a, an in-vehicle device 5, a synchronization device 6, and a network 7 constituting a telecommunication network. The terminal 1a, the in-vehicle device 5, and the synchronization device 6 exchange information with each other by wireless communication via the network 7.

The in-vehicle device 5 is a device mounted on the vehicle 100, and includes an in-vehicle sensor group 51 and an in-vehicle communication device 52 as shown in FIG.

The in-vehicle sensor group 51 is various sensors for detecting the running state of the vehicle 100. Examples of the vehicle-mounted sensor group 51 include a vehicle speed sensor, a steering angle sensor, a steering operation sensor, an accelerator operation sensor, a brake operation sensor, and the like. The vehicle-mounted sensor group 51 detects at least one of the vehicle speed, steering angle, steering operation amount, accelerator operation amount, and brake operation amount of the vehicle 100. One or more pieces of information detected by the vehicle-mounted sensor group 51 are output to the vehicle-mounted communication device 52 as vehicle information. In the present embodiment, it is assumed that the vehicle-mounted sensor group 51 does not include an acceleration sensor that detects the acceleration of the vehicle 100.

The in-vehicle communication device 52 is a device capable of communicating with the synchronization device 6 via the network 7. The vehicle-mounted communication device 52 transmits the vehicle information input from the vehicle-mounted sensor group 51 to the synchronization device 6. Examples of the in-vehicle communication device 52 include a device having a mobile communication function of 4G LTE, a device having a Wifi communication function, a device having a Bluetooth (registered trademark) communication function, and the like.

The synchronization device 6 is a device for synchronizing the acceleration of the display device 2 with the time axis of the vehicle information detected by the vehicle-mounted sensor group 51. The synchronization device 6 is a device capable of communicating with the terminal 1a and the in-vehicle device 5 via the network 7. Generally, the detection unit 21 of the display device 2 and the vehicle-mounted sensor group 51 are physically separated from each other, and the timing at which the acceleration of the display device 2 is detected by the detection unit 21 and the vehicle-mounted sensor group 51 It is extremely unlikely that the timing at which vehicle information is detected will be synchronized. Therefore, in the present embodiment, a synchronization device 6 is provided in order to synchronize the time axes of the two pieces of information.

Information on the acceleration of the display device 2 is input from the terminal 1 to the synchronization device 6 via the network 7. Further, vehicle information is input to the synchronization device 6 from the vehicle-mounted device 5 via the network 7. For example, the synchronization device 6 has a storage device such as a RAM that temporarily stores each input information. Then, the synchronization device 6 specifies an address capable of synchronizing the time axes of the two pieces of information for each storage device. The synchronization device 6 can synchronize the time axes of the two pieces of information by reading the information input from the address. Then, the synchronization device 6 transmits the acceleration information and the vehicle information of the display device 2 whose time axes are synchronized to the terminal 1a via the network 7.

The terminal 1a according to the present embodiment includes a display device 2, a communication device 12, and a control device 13.

Since the display device 2 corresponds to the display device 2 according to the first embodiment described above, the above-mentioned description is incorporated for each configuration of the display device 2. In this embodiment, unlike the first embodiment, the acceleration information of the display device 2 detected by the detection unit 21 is output to the communication device 12.

The communication device 12 is a device capable of communicating with the synchronization device 6 via the network 7. The communication device 12 transmits the acceleration information of the display device 2 to the synchronization device 6. Further, the communication device 12 receives the acceleration and vehicle information of the display device 2 whose time axis is synchronized from the synchronization device 6, and outputs the received information to the control device 13. Examples of the communication device 12 include a device having a mobile communication function of 4G LTE, a device having a Wifi communication function, a device having a Bluetooth communication function, and the like.

Since the control device 13 has a part of the functions to be realized different from that of the control device 3 according to the first embodiment described above, the above description will be appropriately incorporated for other configurations.

As shown in FIG. 4, the control device 13 includes an acceleration acquisition unit 131, a vehicle information acquisition unit 132, a vehicle acceleration calculation unit 133, an acceleration correction unit 134, a display position calculation unit 135, and a virtual object display unit. 136 are included, and these blocks realize each function described later by software established in ROM.

The function of the acceleration acquisition unit 131 will be described. The acceleration acquisition unit 131 acquires the acceleration of the display device 2 from the synchronization device 6 via the communication device 12. The acceleration of the display device 2 is a signal in which the vehicle information and the time axis are synchronized by the synchronization device 6. The acceleration of the display device 2 acquired in the present embodiment is the same as the acceleration of the display device 2 acquired by the acceleration acquisition unit 31 according to the first embodiment described above, except that the acceleration is synchronized with the vehicle information. Therefore, as for the explanation of the acceleration of the display device 2, the above-mentioned explanation is appropriately incorporated.

Next, the function of the vehicle information acquisition unit 132 will be described. The vehicle information acquisition unit 132 acquires vehicle information of the vehicle 100 from the synchronization device 6 via the communication device 12. The vehicle information of the vehicle 100 is various information detected by the vehicle-mounted sensor group 51, and is a signal in which the acceleration of the display device 2 and the time axis are synchronized by the synchronization device 6. Examples of the vehicle information include the vehicle speed, steering angle, steering operation amount, accelerator operation amount, and brake operation amount of the vehicle 100.

Next, the function of the vehicle acceleration calculation unit 133 will be described. The vehicle acceleration calculation unit 133 calculates the acceleration of the vehicle 100 based on the vehicle information of the vehicle 100 acquired by the vehicle information acquisition unit 132. For example, a table showing the relationship between each vehicle information and the acceleration of the vehicle is stored in advance in a storage device such as a ROM, and the vehicle acceleration calculation unit 133 refers to the table to correspond to the vehicle information. Identify 100 accelerations. As a result, the vehicle acceleration calculation unit 133 calculates the acceleration of the vehicle 100 based on the vehicle information of the vehicle 100. The acceleration of the vehicle 100 is composed of a direction and a numerical value. Further, the vehicle acceleration calculation unit 133 calculates the acceleration of the vehicle 100 for each direction of the acceleration of the display device 2. The technique for calculating the acceleration of the vehicle 100 from various parameters of the vehicle 100 is not limited to the above-mentioned example, and the technique at the time of filing the application of the present application can be appropriately used.

Next, the function of the acceleration correction unit 134 will be described. The acceleration correction unit 134 corrects the acceleration of the display device 2 so as to cancel the acceleration of the vehicle 100, and extracts the acceleration accompanying the movement of the occupant from the acceleration of the display device 2. For example, the acceleration of the display device 2 is a predetermined value with respect to the traveling direction of the vehicle 100 (for example, in the positive direction), and the acceleration of the vehicle 100 is in the backward direction (for example, in the negative direction) of the vehicle 100. It is assumed that it is a predetermined value. In this case, the acceleration correction unit 134 adds the numerical value of the acceleration of the vehicle 100 to the acceleration of the display device 2 in the traveling direction (positive direction) of the vehicle 100. By performing such a calculation, the acceleration in the backward direction (negative direction) of the vehicle 100 included in the acceleration of the display device 2 can be offset, and the acceleration accompanying the movement of the occupant is extracted from the acceleration of the display device 2. be able to.

Next, the function of the display position calculation unit 135 will be described. Similar to the display position calculation unit 33 according to the first embodiment described above, the display position calculation unit 135 calculates a position for displaying the virtual object on the display device 2 based on the acceleration accompanying the movement of the occupant. The display position calculation unit 135 has the same function as the display position calculation unit 33 according to the first embodiment, except that the acceleration associated with the movement of the occupant is calculated by the acceleration correction unit 134. Therefore, in the present embodiment, the above-mentioned description will be appropriately incorporated.

The virtual object display unit 136 corresponds to the virtual object display unit 34 according to the first embodiment described above. Therefore, for the explanation of the virtual object display unit 136, the above-mentioned explanation is appropriately incorporated.

Next, the display processing of the virtual object executed by the control device 13 according to the present embodiment will be described with reference to FIG. FIG. 5 is a flowchart showing a display process of a virtual object executed by the control device 13 according to the present embodiment. The control device 13 repeatedly executes the process shown in FIG. 5 at predetermined cycles. As shown in FIG. 4, it is assumed that the terminal 1a is used in the interior of the vehicle 100.

In step S21, the control device 13 acquires the acceleration of the display device 2 detected by the detection unit 21 of the display device 2. The acceleration of the display device 2 is a signal in which the vehicle information of the vehicle 100 and the time axis are synchronized by the synchronization device 6. The acceleration of the display device 2 includes an acceleration associated with the movement of the occupant wearing the terminal 1 and an acceleration associated with the behavior of the vehicle 100. Further, the acceleration of the display device 2 includes acceleration in the front-back, left-right, and up-down directions of the display device 2. Further, the acceleration of the display device 2 detected by the detection unit 21 is expressed as an acceleration with time as a variable.

In step S22, the control device 13 executes a process for removing noise with respect to the acceleration of the display device 2 acquired in step S21. For example, the control device 13 uses a Kalman filter to remove noise included in the acceleration of the display device 2.

Further, the control device 13 executes the process of step S23 in parallel with step S21. In step S23, the control device 13 acquires vehicle information from the vehicle 100. The vehicle information of the vehicle 100 is a signal in which the acceleration of the display device 2 and the time axis are synchronized by the synchronization device 6.

In step S24, the control device 13 executes a process for removing noise from the vehicle information acquired in step S23. For example, the control device 13 uses a Kalman filter to remove various noises included in the vehicle information of the vehicle 100.

In step S25, the control device 13 calculates the acceleration of the vehicle 100 based on the vehicle information from which noise has been removed in step S24. For example, the control device 13 calculates the acceleration of the vehicle 100 by using a table showing the relationship between various parameters of the vehicle 100 and the acceleration of the vehicle 100. The acceleration of the vehicle 100 includes acceleration in the front-rear, left-right, and up-down directions of the vehicle 100. Further, the acceleration of the vehicle 100 is expressed as an acceleration with time as a variable. The front-rear direction of the vehicle 100 indicates a direction along the traveling direction of the vehicle 100, the left-right direction of the vehicle 100 indicates a direction along the vehicle width direction of the vehicle 100, and the vertical direction of the vehicle 100 means the vehicle. The direction along the vehicle height direction of 100 is shown.

In step S26, the control device 13 corrects the acceleration of the display device 2 based on the acceleration of the display device 2 whose noise has been removed in step S22 and the acceleration of the vehicle 100 whose noise has been removed in step S25. Specifically, the control device 13 corrects the acceleration of the display device 2 so that the acceleration of the vehicle 100 cancels out. For example, the control device 13 specifies the acceleration of the display device 2 in the coaxial direction and the acceleration of the vehicle 100. Then, the control device 13 adds the numerical value of the acceleration of the vehicle 100 to the acceleration of the display device 2 in the direction opposite to the direction of the acceleration of the vehicle 100. By the processing of this step, the control device 13 extracts the acceleration accompanying the movement of the occupant from the acceleration of the display device 2.

In step S27, the control device 13 calculates the display position of the virtual object in the display device 2 based on the acceleration accompanying the movement of the occupant extracted in step S26. The process of this step corresponds to the process of step S16 in the above-described first embodiment. Therefore, for the explanation of the step, the above-mentioned explanation will be appropriately incorporated.

In step S28, the control device 13 outputs the information related to the display position calculated in step S27 and the information of the virtual object to be displayed at the display position to the display device 2 as display information, and outputs the virtual object to the display device 2. Is displayed. When the process in step S28 is completed, the display process of the virtual object executed by the control device 13 is completed. The process of this step corresponds to the process of step S17 in the above-described first embodiment.

As described above, in the present embodiment, the control device 13 acquires the vehicle information of the vehicle 100 acquired by the in-vehicle sensor group 51 as the information regarding the acceleration of the vehicle 100 from the vehicle 100 via the communication device 12. .. As a result, the control device 13 can calculate the acceleration of the vehicle 100 based on the vehicle information of the vehicle 100. Since it is not necessary to provide the terminal 1 with an acceleration sensor that detects the acceleration of the vehicle 100, the terminal 1 can be made smaller and lighter, and the manufacturing cost of the terminal 1 can be reduced.

Further, in the present embodiment, the vehicle information acquired by the control device 13 includes at least one of the speed, steering angle, steering operation amount, accelerator operation amount, and brake operation amount of the vehicle 100. As a result, the control device 13 can calculate the acceleration of the vehicle 100 in each direction, and as a result, the acceleration accompanying the movement of the occupant can be extracted from the acceleration of the display device 2.

In addition, in the present embodiment, the control device 13 calculates the acceleration of the vehicle 100 based on the vehicle information of the vehicle 100, and cancels the acceleration of the vehicle 100 with respect to the acceleration of the display device 2 (correction processing). Is executed to extract the acceleration accompanying the movement of the occupant from the acceleration of the display device 2. As a result, the acceleration associated with the movement of the occupant can be extracted from the acceleration of the display device 2. As a result, even if acceleration is generated in the display device 2 due to the behavior of the vehicle 100, the control device 3 can display the virtual object at a fixed position in the virtual space or the real space.

<< Third Embodiment >>
Next, the terminal 1b including the control device 23 according to the third embodiment will be described. FIG. 6 is a configuration diagram showing an example of a virtual object display system including the control device 23 according to the third embodiment.

The system of this embodiment includes a terminal 1b, an in-vehicle device 5b, a synchronization device 6b, and a network 7 constituting a telecommunication network. The terminal 1b, the in-vehicle device 5b, and the synchronization device 6b exchange information with each other by wireless communication via the network 7.

The in-vehicle device 5b is a device mounted on the vehicle 100, and includes an acceleration sensor 51b and an in-vehicle communication device 52b as shown in FIG.

The acceleration sensor 51b is a sensor that detects the acceleration of the vehicle 100. The acceleration of the vehicle 100 is composed of a direction and a numerical value. The acceleration information of the vehicle 100 detected by the acceleration sensor 51b is output to the in-vehicle communication device 52b.

The in-vehicle communication device 52b is a device capable of communicating with the synchronization device 6b via the network 7. The in-vehicle communication device 52b transmits the acceleration information of the vehicle 100 input from the acceleration sensor 51b to the synchronization device 6. The same equipment as the in-vehicle communication device 52 according to the second embodiment described above can be applied to the in-vehicle communication device 52b.

The synchronization device 6b is a device for synchronizing the acceleration of the display device 2 with the time axis of the acceleration of the vehicle 100 detected by the acceleration sensor 51b. The synchronization device 6b is a device capable of communicating with the terminal 1b and the in-vehicle device 5b via the network 7. The same equipment as the synchronization device 6 according to the second embodiment described above can be applied to the synchronization device 6b. Therefore, as for the specific description of the synchronization device 6b, the above-mentioned description is appropriately incorporated. The synchronization device 6 transmits information on the acceleration of the display device 2 and the acceleration of the vehicle 100 whose time axes are synchronized to the terminal 1b via the network 7.

The terminal 1b according to the present embodiment includes a display device 2, a communication device 12b, and a control device 23. Since the display device 2 has the same function as the display device 2 according to the second embodiment described above, the above description is incorporated for each configuration of the display device 2.

The communication device 12b is a device capable of communicating with the synchronization device 6b via the network 7. The communication device 12b transmits the acceleration information of the display device 2 output from the display device 2 to the synchronization device 6b. Further, the communication device 12b receives information on the acceleration of the display device 2 and the acceleration of the vehicle 100 whose time axes are synchronized from the synchronization device 6b, and outputs the received information to the control device 13. The same equipment as the communication device 12 according to the second embodiment described above can be applied to the communication device 12b.

Since the control device 23 is partially different in the functions to be realized as compared with the control device 3 according to the first embodiment and the control device 13 according to the second embodiment described above, the other configurations are described above. Use the explanation as appropriate.

As shown in FIG. 6, the control device 23 includes an acceleration acquisition unit 231, a vehicle acceleration acquisition unit 232, an acceleration correction unit 233, a display position calculation unit 234, and a virtual object display unit 235. The block realizes each function described later by the software established in the ROM.

The acceleration acquisition unit 231 corresponds to the acceleration acquisition unit 131 according to the second embodiment described above. Therefore, for the explanation of the function of the acceleration acquisition unit 231, the above-mentioned explanation is appropriately incorporated.

Next, the function of the vehicle acceleration acquisition unit 232 will be described. The vehicle acceleration acquisition unit 232 acquires the acceleration information of the vehicle 100 from the synchronization device 6b via the communication device 12b. The acceleration of the vehicle 100 is a signal in which the acceleration of the display device 2 and the time axis are synchronized by the synchronization device 6b.

The acceleration correction unit 233, the display position calculation unit 234, and the virtual object display unit 235 correspond to the acceleration correction unit 134, the display position calculation unit 135, and the virtual object display unit 136, respectively, according to the second embodiment. Therefore, for the explanation of each function, the above-mentioned explanation is appropriately incorporated.

Next, the display processing of the virtual object executed by the control device 23 according to the present embodiment will be described with reference to FIG. 7. FIG. 7 is a flowchart showing a display process of a virtual object executed by the control device 23 according to the present embodiment. The control device 23 repeatedly executes the process shown in FIG. 7 at predetermined cycles. As shown in FIG. 6, it is assumed that the terminal 1b is used in the interior of the vehicle 100.

In step S31, the control device 23 acquires the acceleration of the display device 2 from the detection unit 21 of the display device 2. The acceleration of the display device 2 is a signal in which the acceleration of the vehicle 100 and the time axis are synchronized by the synchronization device 6b. The acceleration of the display device 2 includes an acceleration associated with the movement of the occupant wearing the terminal 1b and an acceleration associated with the behavior of the vehicle 100. Further, the acceleration of the display device 2 includes acceleration in the front-back, left-right, and up-down directions of the display device 2. Further, the acceleration of the display device 2 detected by the detection unit 21 is expressed as an acceleration with time as a variable.

In step S32, the control device 23 executes a process for removing noise with respect to the acceleration of the display device 2 acquired in step S31. For example, the control device 23 uses a Kalman filter to remove noise included in the acceleration of the display device 2.

Further, the control device 23 executes the process of step S33 in parallel with step S31. In step S33, the control device 23 acquires the acceleration information of the vehicle 100 from the vehicle 100. The acceleration of the vehicle 100 is a signal in which the acceleration of the display device 2 and the time axis are synchronized by the synchronization device 6b.

In step S34, the control device 23 executes a process for removing noise with respect to the acceleration of the vehicle 100 acquired in step S33. For example, the control device 23 uses a Kalman filter to remove various noises included in the acceleration of the vehicle 100.

In step S35, the control device 23 corrects the acceleration of the display device 2 based on the acceleration of the display device 2 whose noise has been removed in step S32 and the acceleration of the vehicle 100 whose noise has been removed in step S34. Specifically, the control device 23 corrects the acceleration of the display device 2 so that the acceleration of the vehicle 100 cancels out. By the processing of this step, the control device 23 extracts the acceleration accompanying the movement of the occupant from the acceleration of the display device 2.

In step S36, the control device 23 calculates the display position of the virtual object in the display device 2 based on the acceleration accompanying the movement of the occupant extracted in step S35. The processing of this step corresponds to the processing of step S16 in the first embodiment and step S27 in the second embodiment described above. Therefore, for the explanation in the step, the above-mentioned explanation is appropriately incorporated.

In step S37, the control device 23 outputs information related to the information of the virtual object corresponding to the display position calculated in step S36 to the display device 2 as display information, and causes the display device 2 to display the virtual object. When the process in step S36 is completed, the display process of the virtual object executed by the control device 23 is completed. The processing of this step corresponds to the processing of step S17 in the first embodiment and step S28 in the second embodiment described above.

As described above, in the present embodiment, the control device 23 acquires the acceleration of the vehicle 100 acquired by the acceleration sensor as information regarding the acceleration of the vehicle 100 from the vehicle 100 via the communication device 12b. Then, the control device 23 extracts the acceleration accompanying the movement of the occupant from the acceleration of the display device 2 by executing the process (correction process) of canceling the acceleration of the vehicle 100 with respect to the acquired acceleration of the display device 2. .. As a result, the acceleration associated with the movement of the occupant can be extracted from the acceleration of the display device 2. As a result, even if acceleration is generated in the display device 2 due to the behavior of the vehicle 100, the control device 3 can display the virtual object at a fixed position in the virtual space or the real space.

It should be noted that the embodiments described above are described for facilitating the understanding of the present invention, and are not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

For example, in the first to third embodiments described above, the head-mounted display is taken as an example of the terminal 1, but the form of the terminal 1 is not limited to this. For example, the terminal 1 may be a glasses-type wearable terminal called smart glasses. In this case, the highly transparent display of the smart glasses corresponds to the display device 2 in the above-described embodiment.

Further, for example, in the above-described first to third embodiments, the display device 2 is incorporated in the terminal 1 and has been described with an example of an integrally inseparable configuration. However, the display device 2 is the same as the terminal 1. It may be separable. For example, in the case of the terminal 1 to which the smartphone can be attached, the user wearing the terminal 1 visually recognizes the virtual object displayed on the display of the smartphone. In this case, the display of the smartphone corresponds to the display device 2 in the above-described embodiment.

Further, for example, in the second embodiment and the third embodiment described above, the synchronization device 6 (6b) has been described as a configuration different from that of the vehicle 100 and the terminal 1a (1b), but the synchronization device 6 (6b) is described. It may be incorporated in the terminal 1a (1b). That is, the terminal 1a (1b) may include the synchronization device 6 (6b).

Further, for example, in the above-described first to third embodiments, the configuration in which the program executed by the control device 3 (13, 23) is stored in the memory 35 has been described as an example, but the control device 3 has been described. The save destination of the program executed by (13, 23) is not limited to this. For example, the program for functioning as the control device 3 (13, 23) may be a portable recording medium and may be recorded on a computer-readable recording medium. In this case, the computer executes the program downloaded from this recording medium.

Further, in general, with only the acceleration sensor, the detection error of the minute acceleration may be integrated, so that the detection of the position of the terminal 1 in the absolute coordinates of the space may be deviated. Therefore, FIG. 2 shows a step of identifying the position of the display device 2 in space by further providing an image pickup unit such as a camera in the detection unit 21 of the display device 2 and processing the image captured by the image pickup unit. It may be added to the first steps of FIGS. 5 and 7. As a technique for specifying a position in space by image recognition, a self-position estimation technique such as Simultaneous Localization and Mapping (SLAM) is used.

For example, in the present specification, the control device according to the present invention will be described by taking control devices 3, 13, and 23 as examples, but the present invention is not limited thereto. Further, in the present specification, the acceleration acquisition unit according to the present invention will be described by taking the acceleration acquisition units 31, 131, and 231 as examples, but the present invention is not limited thereto. Further, in the present specification, the display control unit according to the present invention includes the acceleration separation unit 32, the display position calculation units 33, 135, 234, the virtual object display unit 34, 136, 235, and the vehicle information acquisition unit 132. , The vehicle acceleration calculation unit 133, the acceleration correction unit 134, 233, and the vehicle acceleration acquisition unit 232 will be described as examples, but the present invention is not limited thereto. Further, the terminal according to the present invention will be described by taking terminals 1, 1a and 1b as examples, but the present invention is not limited thereto.

1 ... Terminal 2 ... Display device 21 ... Detection unit 22 ... Display unit 3 ... Control device 31 ... Acceleration acquisition unit 32 ... Acceleration separation unit 33 ... Display position calculation unit 34 ... Virtual object display unit 35 ... Memory 100 ... Vehicle

Claims (9)

1. It is a control device of a display device that can be worn by a moving occupant and displays a virtual object on the occupant.
   An acceleration acquisition unit that acquires the acceleration of the display device from a detection unit included in the display device, and an acceleration acquisition unit.
   A display control unit that controls the display device is provided.
   The display control unit
   Using the information on the acceleration of the moving body, the acceleration accompanying the movement of the occupant is extracted from the acceleration of the display device.
   The display position of the virtual object on the display device is calculated based on the acceleration accompanying the movement of the occupant.
   A control device that displays the virtual object at the display position.
2. The moving body is a vehicle.
   The control device according to claim 1, wherein the display control unit acquires information on the acceleration of the vehicle from the vehicle via a communication device capable of communicating with the vehicle.
3. The information regarding the acceleration of the vehicle includes at least one of the speed, steering angle, steering operation amount, accelerator operation amount, and brake operation amount of the vehicle acquired by a sensor mounted on the vehicle. Item 2. The control device according to item 2.
4. The display control unit
   Based on the information about the acceleration of the vehicle, the acceleration of the vehicle is calculated.
   The control device according to claim 2 or 3, wherein the acceleration associated with the movement of the occupant is extracted by executing a process of canceling the acceleration of the vehicle with respect to the acceleration of the display device.
5. The information regarding the acceleration of the vehicle is the acceleration of the vehicle acquired by the sensor mounted on the vehicle.
   The control device according to claim 2, wherein the display control unit extracts acceleration accompanying the movement of the occupant by executing a process of canceling the acceleration of the vehicle from the acceleration of the display device.
6. A terminal including the control device according to any one of claims 1 to 5 and the display device.
7. A program for making a computer function as a control device according to any one of claims 1 to 5.
8. A computer-readable recording medium on which the program according to claim 7 is recorded.
9. It is a control method of a display device that can be worn by a moving occupant and controls a display device that displays a virtual object on the occupant by a computer.
   The acceleration of the display device is acquired from the sensor included in the display device.
   Using the information on the acceleration of the moving body, the acceleration accompanying the movement of the occupant is extracted from the acceleration of the display device.
   The display position of the virtual object on the display device is calculated based on the acceleration accompanying the movement of the occupant.
   A control method for displaying the virtual object at the display position.

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