JP2016078726A - Virtual image display - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a virtual image display that enables a user to grasp the passing direction at an intersection of interest in advance without increasing an information volume even when the user is in a location apart from the intersection of interest.SOLUTION: An image is projected onto a screen from a projector, the image projected onto the screen is reflected by a front window 6 of a vehicle 2 and then a vehicle passenger is allowed to visually recognize the image, thereby generating a virtual image of the image visually recognized by the vehicle passenger. Furthermore, when a distance from a virtual image superimposition area 51 to an intersection of interest 52 is within a predetermined distance, a virtual image 8 of an arrow inclined in the passing direction of the vehicle at the intersection of interest is generated.SELECTED DRAWING: Figure 13

Description

  The present invention relates to a virtual image display device that displays a virtual image visually recognized by a user.

  Conventionally, various means have been used as information providing means for providing driving information such as route guidance and obstacle warnings to passengers of moving bodies such as vehicles. For example, display on a liquid crystal display installed on a moving body, sound output from a speaker, and the like. In recent years, as one of such information providing means, a head-up display device (hereinafter referred to as HUD) is used in a space different from a position where an image is actually displayed using an illusion of human eyes. There is a virtual image display device for visually recognizing an image.

  Here, for example, the HUD installed on the vehicle as a moving body is located in front of the vehicle window (for example, the front window) as seen from the vehicle occupant as described in Japanese Patent Application Laid-Open No. 2011-73466. The driving information (for example, a mark indicating the vehicle ahead and a mark indicating the distance between the vehicles) can be generated as a virtual image superimposed on the foreground of the front visual field. As a result, the occupant can reduce the line-of-sight movement as much as possible when visually confirming the driving information, and can further reduce the burden during driving.

  In addition, when driving information is displayed superimposed on the foreground of the front field of view, especially when the user guides an intersection that makes a right or left turn, it is important to make the user accurately know the position of the intersection that makes a right or left turn. It is. Therefore, in Japanese Patent Laid-Open No. 9-325042, an image in front of the traveling direction is displayed on the liquid crystal display, and an arrow indicating the traveling direction at the intersection is displayed at the intersection of the foreground when the intersection to be turned right or left approaches. A technique for superimposing and displaying the position has been proposed.

Japanese Patent Laying-Open No. 2011-73466 (page 3-4, FIG. 1) JP-A-9-325042 (page 4, FIG. 2)

  However, in the guidance device described in the above-mentioned Patent Document 2, since an arrow is displayed superimposed on the intersection to be turned left and right, the distance from the user to the intersection to be turned left and right is far, and the intersection is to be superimposed. The arrow is not displayed in situations that are not included in the foreground. As a result, there is a problem that the user cannot grasp in advance the passing direction at the intersection. As a result of the delay in grasping the passing direction, there has been a case where the right and left turn at the intersection cannot be appropriately performed because the lane movement is not in time.

  The present invention has been made to solve the above-described conventional problems, and displays a virtual image of an arrow indicating the traveling direction of the vehicle and a virtual image according to the passing direction at the target intersection ahead of the traveling direction of the vehicle. By providing a virtual image display device that makes it possible to grasp the passing direction at the target intersection in advance without increasing the amount of information even if the user is away from the target intersection by tilting the arrow displayed as The purpose is to do.

In order to achieve the above object, a virtual image display device according to the present invention is installed in a vehicle, and a screen, a projector that projects an image on the screen, and a vehicle occupant that reflects the image projected on the screen. A virtual image generating means for generating a virtual image of the video in a generation possible range ahead of the traveling direction of the vehicle by allowing a user to visually recognize the image, and a front environment that is visually recognized by the user while being superimposed on the generation possible range. Superimposition area specifying means for specifying an area as a virtual image superposition area, route acquisition means for acquiring a planned travel route of the vehicle, and target intersection acquisition means for acquiring a target intersection included in the planned travel route, The virtual image is an arrow that guides the traveling direction of the vehicle for the vehicle to travel along the planned travel route, and the virtual image generation Stage, the distance from the virtual images superimposed area to said target intersection is the case is within a predetermined distance, and generating a virtual image of an arrow which is inclined passage direction of the vehicle at the target intersection.
The “target intersection” includes an intersection that is a guidance target when traveling guidance is performed using a traveling guidance function such as a navigation device. Specifically, when the vehicle travels along a planned travel route, an intersection where the vehicle passes in a direction other than the road direction, an intersection where the vehicle turns right or left, or an intersection where the vehicle direction is displaced by a predetermined angle or more (for example, 30 degrees) Etc.

  According to the virtual image display device according to the present invention having the above-described configuration, the virtual image of the arrow indicating the traveling direction of the vehicle is displayed, and is displayed as a virtual image according to the passing direction at the target intersection ahead of the traveling direction of the vehicle. Since the arrow is inclined, it is possible to grasp in advance the passing direction at the target intersection without increasing the amount of information even if the user is at a position away from the target intersection. Therefore, it is possible to appropriately drive the vehicle along the passing direction at the target intersection.

It is the figure which showed the installation aspect to the vehicle of HUD which concerns on this embodiment. It is the figure which showed the internal structure of HUD which concerns on this embodiment. It is the figure which showed the projector which comprises HUD. It is the figure which showed the screen which comprises HUD. It is the figure which showed the movement aspect with respect to the optical path of a screen. It is the figure which showed the relationship between the optical path length between a screen and a mirror, and the production | generation distance of a virtual image. It is the figure which showed the change aspect of the production | generation distance of a virtual image. It is the block diagram which showed the structure of HUD which concerns on this embodiment. It is a flowchart of the virtual image generation processing program which concerns on this embodiment. It is the figure which showed an example of the virtual image visually recognizable from the passenger | crew of a vehicle. It is the figure which showed the virtual image superimposition area. It is the figure which showed the measuring method of road distance. It is the figure which showed an example of the virtual image which can be visually recognized from a passenger | crew when a vehicle approaches the object intersection within the predetermined distance. It is the figure which showed the example of a displacement of the inclination angle of the arrow produced | generated as a virtual image. It is the figure which showed the centerline. It is the figure which showed an example of the virtual image which can be visually recognized from a passenger | crew when a vehicle arrives at the vicinity of the object intersection. It is the figure which showed the example of a displacement of the direction of the arrow produced | generated as a virtual image. It is a figure explaining the control method of the projection position and production | generation distance of an image | video.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, a virtual image generating device according to the invention will be described in detail with reference to the drawings with regard to an embodiment embodied in a head-up display device mounted on a vehicle.

  First, the configuration of a head-up display device (hereinafter referred to as HUD) 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a diagram showing an installation mode of the HUD 1 according to the present embodiment on the vehicle 2.

  As shown in FIG. 1, the HUD 1 is installed inside the dashboard 3 of the vehicle 2, and includes a projector 4 and a screen 5 on which an image from the projector 4 is projected. Then, the image projected on the screen 5 is reflected on the front window 6 in front of the driver's seat through the mirror and Fresnel lens provided in the HUD 1 as will be described later, and is made visible to the passenger 7 of the vehicle 2. ing. Note that the image projected on the screen 5 includes information related to the vehicle 2 and various information used for assisting the driving of the occupant 7. For example, a warning for an obstacle (another vehicle or a pedestrian), a guidance route (scheduled travel route) set by the navigation device 48, guidance information based on the guidance route (such as an arrow indicating a right / left turn direction), the current vehicle speed, a guidance sign, There are map images, traffic information, news, weather forecasts, times, connected smartphone screens, television programs, and the like.

  Further, in the HUD 1 of the present embodiment, when the occupant 7 visually recognizes an image projected on the screen 5 by reflecting the front window 6, the occupant 7 is not at the position of the front window 6 but at the front of the front window 6. An image projected on the screen 5 at a distant position is configured to be visually recognized as a virtual image 8. The virtual image 8 that can be seen by the occupant 7 is an image projected on the screen 5, but the vertical direction is reversed because the image is projected through the mirror. In addition, the size is changed by using a Fresnel lens.

  Here, regarding the position where the virtual image 8 is generated, more specifically, the distance L from the occupant 7 to the virtual image 8 (hereinafter referred to as a generation distance) L, the shape and position of the mirror and Fresnel lens provided in the HUD 1, and the screen 5 with respect to the optical path It is possible to appropriately set the position depending on the position. In particular, in the present embodiment, the position of the screen 5 is configured to be movable in the front-rear direction along the optical path as will be described later. As a result, the generation distance L can be changed as appropriate. For example, the generation distance L can be changed between 2.5 m and 20 m.

  A front camera 17 is installed above the front bumper of the vehicle, behind the rearview mirror, and the like. The front camera 17 is an imaging device configured by a camera using a solid-state imaging device such as a CCD, for example, and is installed with the optical axis direction facing forward in the traveling direction of the vehicle. Then, image processing is performed on the captured image captured by the front camera 17, so that the occupant is in a front environment visually recognized by the occupant 7 through the front window 6 as described later, that is, the background on which the virtual image 8 is superimposed. The distance (road distance) from 7 to each point on the background is detected. Further, a front environment area (hereinafter referred to as a virtual image superimposition area) that is visually recognized by the occupant 7 superimposed on a range in which the virtual image 8 can be generated by the HUD 1 is also detected based on a captured image captured by the front camera 17. .

  Next, a more specific configuration of the HUD 1 will be described with reference to FIG. FIG. 2 is a diagram showing an internal configuration of the HUD 1 according to the present embodiment.

  As shown in FIG. 2, the HUD 1 basically includes a projector 4, a screen 5, a reflection mirror 10, a mirror (concave mirror) 11, a Fresnel lens 12, a control circuit unit 13, and a CAN interface 14. ing.

  Here, the projector 4 is an image projection apparatus using an LED light source, a lamp light source, or a laser light source as a light source, and is, for example, a laser scanning projector. The projector 4 may be a DLP projector, a liquid crystal projector, or an LCOS projector. When a projector other than the laser scanning projector is used, it is necessary to separately arrange a projection lens for the projector 4.

  FIG. 3 is a diagram showing the configuration of the projector 4. As shown in FIG. 3, the projector 4 includes a laser light source 15 inside. For example, in a laser scanning projector, the laser light output from the light source 15 is reflected by the MEMS mirror 16 and scanned on the screen 5. As a result, a desired image is projected onto the screen 5.

  On the other hand, the screen 5 is a projection medium on which an image projected from the projector 4 is projected. For example, a transmissive screen made of a diffusing plate such as ground glass or a microlens array is used. Here, FIG. 4 is a diagram showing the screen 5.

  As shown in FIG. 4, the screen 5 has a projection area 22 on which an image is projected, and an image projected from the projector 4 is displayed. In addition, the passenger | crew 7 will visually recognize the image | video projected by the projector 4 from the opposite side to a projection side. The screen 5 is configured to be movable in the front-rear direction along the optical path. Specifically, by driving the screen front / rear drive motor 24 on the back side of the screen 5, as shown in FIG. 5, the screen 5 can be moved in the front / rear direction along the optical path. As a result, the optical path length between the screen 5 and the mirror 11 is changed.

  In the HUD 1, the position at which the virtual image 8 of the image projected on the screen 5 is generated in the optical path length between the screen 5 and the mirror 11 (specifically, the generation distance L that is the distance from the occupant 7 to the virtual image 8). ) Will depend. Specifically, as shown in FIG. 6, when the screen 5 is moved to the side where the optical path length D between the screen 5 and the mirror 11 becomes shorter, the generation distance L becomes shorter (that is, closer to the passenger 7). The virtual image 8 is visually recognized). On the other hand, when the screen 5 is moved to the side where the optical path length D between the screen 5 and the mirror 11 becomes longer, the generation distance L becomes longer (that is, the virtual image 8 is viewed farther from the passenger 7. It becomes like). Therefore, by moving the screen 5 in the front-rear direction along the optical path, the length of the generation distance L, which is the distance from the occupant 7 to the virtual image 8, as shown in FIG. It becomes possible to change in ~ 20m).

  The screen front / rear drive motor 24 is a stepping motor. The HUD 1 controls the screen front / rear drive motor 24 based on the pulse signal transmitted from the control circuit unit 13, and can appropriately position the front / rear position of the screen 5 with respect to the set position.

  On the other hand, the reflecting mirror 10 is a reflecting plate that reflects an image projected from the projector 4 to change the optical path and projects it onto the screen 5 as shown in FIG.

  Further, the mirror 11 reflects the image light from the screen 5 as shown in FIG. 2, and causes the occupant 7 to visually recognize the image of the screen 5 through the front window 6. 1), and constitutes a virtual image generating means together with the reflecting mirror 10 and the front window 6. As the mirror 11, a spherical concave mirror, an aspheric concave mirror, or a free-form curved mirror for correcting distortion of a projected image is used. Since the image projected on the screen 5 is reflected by the mirror 11, the generated virtual image is an image that is vertically inverted from the image projected on the screen 5.

  The Fresnel lens 12 is a magnifying glass for generating a virtual image 8 by enlarging the image projected on the screen 5 as shown in FIG. And in HUD1 which concerns on this embodiment, the image | video projected on the screen 5 is further reflected on the front window 6 via the mirror 11 and the Fresnel lens 12, and is made to be visually recognized by the passenger | crew 7, so that the front of the front window 6 is visible. The image projected on the screen 5 at a distant position is enlarged and is visually recognized by the occupant as a virtual image 8 (see FIG. 1).

  The control circuit unit 13 is an electronic control unit that controls the entire HUD 1. Here, FIG. 8 is a block diagram showing the configuration of the HUD 1 according to the present embodiment.

  As shown in FIG. 8, the control circuit unit 13 includes a CPU 31 as an arithmetic device and a control device, a RAM 32 used as a working memory when the CPU 31 performs various arithmetic processes, a control program, and a virtual image generation described later. A ROM 33 in which a processing program (see FIG. 9) and the like are recorded, an internal storage device such as a flash memory 34 for storing a program read from the ROM 33 and a position setting table to be described later are provided. The control circuit unit 13 is connected to the projector 4 and the screen front / rear drive motor 24, respectively, and performs drive control of the projector 4 and various motors.

  The CAN (controller area network) interface 14 is an interface for inputting / outputting data to / from CAN which is an in-vehicle network standard for performing multiplex communication between various on-vehicle devices installed in a vehicle and control devices for vehicle equipment. It is. The HUD 1 is connected to a control device (for example, the navigation device 48, the AV device 49, etc.) of various vehicle-mounted devices and vehicle equipment via the CAN so as to be able to communicate with each other. Thereby, the HUD 1 is configured to be able to project information acquired from the navigation device 48, the AV device 49, and the like.

  Next, a virtual image generation processing program executed by the CPU 31 in the HUD 1 having the above configuration will be described with reference to FIG. FIG. 9 is a flowchart of the virtual image generation processing program according to the present embodiment. Here, the virtual image generation processing program is a program that is executed after the ACC power supply of the vehicle is turned on and generates a virtual image 8 that is visually recognized by the vehicle occupant 7. Note that the program shown in the flowchart of FIG. 9 below is stored in the RAM 32 or ROM 33 provided in the HUD 1 and executed by the CPU 31.

  First, in step (hereinafter abbreviated as S) 1 in the virtual image generation processing program, the CPU 31 sets the generation distance L of the virtual image 8 to the longest distance 20 m which is the reference distance. If the current position of the screen 5 is not arranged at a position where the generation distance L of the virtual image 8 is 20 m (a position where the optical path length between the screen 5 and the mirror 11 is the longest), the screen is driven back and forth. The motor 24 is driven to move the screen 5 to a position where the generation distance L of the virtual image 8 is 20 m. In the present embodiment, the reference distance of the generation distance L is 20 m, which is the longest distance, but may be other than 20 m (for example, 15 m or 10 m).

  Next, in S <b> 2, the CPU 31 transmits a signal to the projector 4 and starts projecting an image on the screen 5 by the projector 4. The video projected by the projector 4 includes information related to the vehicle 2 and various information used for assisting the driving of the occupant 7. For example, a warning for an obstacle (another vehicle or a pedestrian), a guidance route (planned travel route) set by the navigation device 48, guidance information based on the guidance route (such as an arrow indicating the traveling direction of the vehicle), the current vehicle speed, a guidance sign , Map image, traffic information, news, weather forecast, time, connected smartphone screen, TV screen and so on. In particular, in the present embodiment, an arrow indicating the traveling direction of the vehicle, which is guidance information based on the guidance route set by the navigation device 48, is output.

  As a result, for example, when a guidance route is set in the navigation device 48 and there is no intersection or the like to be turned right or left in front of the vehicle in the traveling direction, as shown in FIG. Then, a virtual image 8 of an arrow indicating the traveling direction of the vehicle on the road on which the vehicle is currently traveling (basically a straight traveling direction except for a curved road) is generated. On the other hand, when an intersection or the like to be turned left or right approaches in front of the traveling direction of the vehicle, a virtual image 8 of an arrow is generated in which the inclination angle and direction are changed according to the passing direction of the intersection as described later (see FIG. 16). As a result, a virtual image 8 of an arrow indicating the traveling direction of the vehicle is generated at a position ahead of the occupant 7 by a reference distance (20 m), and the occupant 7 may minimize the movement of the line of sight when viewing the virtual image 8 as much as possible. Is possible. In the present embodiment, the virtual image 8 is generated so that the virtual image 8 indicated by an arrow is positioned on the ground, more specifically, the lower end of the virtual image 8 is positioned on the ground.

  Next, in S3, the CPU 31 acquires from the navigation device 48 based on the detection result of the current position of the vehicle via the CAN. Note that it is desirable to specify the current position of the vehicle in detail using a high-precision location technology. Here, the high-accuracy location technology detects the white line and road surface paint information captured from the camera behind the vehicle by image recognition, and further compares the white line and road surface paint information with a previously stored map information DB, thereby driving the vehicle. This is a technology that makes it possible to detect lanes and highly accurate vehicle positions. The details of the high-accuracy location technology are already known and will be omitted.

  Subsequently, in S4, the CPU 31 determines whether or not the target intersection is within a predetermined distance (for example, within 1 km) ahead of the traveling direction of the vehicle. Here, in the present embodiment, the “target intersection” is an intersection (guidance target intersection) that is a guidance target when travel guidance is performed by the navigation device 48. More specifically, when the vehicle travels along the planned travel route, the intersection where the vehicle passes in a direction other than the road direction, the intersection where the vehicle turns right and left, and the vehicle direction are displaced by a predetermined angle or more (for example, 30 degrees). Intersections are applicable. Therefore, in S4, the CPU 31 acquires the planned travel route of the vehicle, that is, the guide route currently set in the navigation device 48, from the navigation device 48 via the CAN. Then, after identifying the target intersection included in the acquired planned travel route, the current position of the vehicle acquired in S3 is compared, and whether the target intersection is within a predetermined distance (for example, within 1 km) ahead of the traveling direction of the vehicle. Judge whether or not.

  If it is determined that there is a target intersection within a predetermined distance ahead of the traveling direction of the vehicle (S4: YES), the process proceeds to S5. On the other hand, when it is determined that there is no target intersection within a predetermined distance ahead of the traveling direction of the vehicle (S4: NO), the process returns to S3.

  In S <b> 5, the CPU 31 overlaps the range in which the virtual image 8 can be generated by the HUD 1 based on the captured image captured by the front camera 17 and various design values of the HUD 1 as shown in FIG. An environment area (virtual image superimposing area 51) is specified.

  Subsequently, in S6, the CPU 31 calculates a distance X from the virtual image superimposing area 51 specified in S5 to the target intersection. More specifically, the distance X from the upper end of the virtual image overlapping area 51 to the lower end of the target intersection 52 is calculated as a distance X as shown in FIG.

Below, the detail of the calculation method of the distance X from the virtual image superimposition area 51 of S6 to the object intersection is demonstrated.
First, the CPU 31 measures the road distance based on the captured image captured by the front camera 17. The “road distance” indicates the distance from the occupant 7 at each point in the background where the virtual image 8 is superimposed, that is, the front environment visually recognized by the occupant 7 through the front window 6. As a result, as shown in FIG. 12, it is possible to specify how far each point of the front environment visually recognized by the occupant 7 through the front window 6 is from the occupant 7. Next, the CPU 31 specifies the distance X1 from the occupant 7 to the upper end of the virtual image superimposing area 51 and the distance X2 from the occupant 7 to the lower end of the target intersection 52 based on the measured road distance, and the difference ( X2-X1) is calculated as the distance X. In addition, it is good also as a structure calculated based on the present position and map information of the vehicle which were detected by said S3, without using "road distance".

  Next, in S7, the CPU 31 determines whether or not the distance X from the virtual image superimposing area 51 calculated in S6 to the target intersection has become 0 or less, that is, at least a part of the virtual image superimposing area 51 has entered the target intersection. It is determined whether or not.

  When it is determined that the distance X from the virtual image superimposing area 51 calculated in S6 to the target intersection is 0 or less, that is, it is determined that at least a part of the virtual image superimposing area 51 has entered the target intersection (S7: YES), the process proceeds to S9. On the other hand, when it is determined that the distance X from the virtual image overlapping area 51 calculated in S6 to the target intersection is not less than 0, that is, the virtual image overlapping area 51 has not entered the target intersection (S7: NO). To S8.

  In S <b> 8, the CPU 31 transmits a signal to the projector 4 and corrects an image projected by the projector 4. Specifically, the correction is performed so that the virtual image 8 of the arrow inclined toward the vehicle passing direction at the target intersection 52 is obtained. Note that the direction of the arrow is fixed in the traveling direction of the vehicle (for example, the straight traveling direction) on the road on which the vehicle is currently traveling, and is not rotated toward the passing direction of the target intersection. As a result, as shown in FIG. 13, a virtual image 8 of an arrow inclined toward the vehicle passing direction side (in the example shown in FIG. 13, the right direction) at the target intersection 52 is generated, and the occupant 7 creates the virtual image 8. By visually recognizing, it is possible to grasp in advance the passing direction at the next target intersection.

  Further, in the present embodiment, as the distance X from the virtual image superimposing area 51 to the target intersection 52 becomes shorter, a virtual image with an arrow having a larger inclination angle is generated. Specifically, as shown in FIG. 14, the arrow is in the horizontal direction until the distance X is 300 m or less, and the inclination angle α from the horizontal direction of the arrow is increased by 2 degrees every 10 m after the distance X is 300 m or less. It is set as the structure enlarged toward the passing direction side of the vehicle in the object intersection 52. Then, when the distance X from the virtual image superimposing area 51 to the target intersection 52 becomes 0, the virtual image 8 of the arrow tilted 60 degrees in the vehicle passing direction is generated. As a result, the occupant 7 can also grasp the distance from the inclination angle of the arrow generated as the virtual image 8 to the next target intersection. Thereafter, the process returns to S3. In the example shown in FIG. 14, the timing at which the arrow starts to be tilted is the timing at which the distance X is 300 m or less, but the timing can be changed as appropriate. For example, the timing when the distance X is 500 m or less may be used.

  On the other hand, in S9, the CPU 31 specifies a straight line (hereinafter referred to as a center line) that passes through the center of the lane that travels after the vehicle passes the target intersection and is parallel to the lane. For example, as shown in FIG. 15, when the planned travel route of the vehicle 2 is a route that turns right at the target intersection 52, the vehicle passes through the center of the lane 53 that enters after the right turn, and the line parallel to the lane 53 is the center. Identified as line 54.

  Next, in S <b> 10, the CPU 31 transmits a signal to the projector 4 and corrects an image projected by the projector 4. Specifically, the vehicle is further tilted toward the vehicle passing direction at the target intersection 52, and the direction of the arrow fixed in S8 also passes the vehicle at the target intersection from the current traveling direction of the vehicle (for example, the straight traveling direction). It is corrected so that it is rotated step by step so as to face the direction. As a result, as shown in FIG. 16, the virtual image 8 of the arrow that is inclined toward the vehicle passing direction side (in the example shown in FIG. 16, the right direction) and faces the passing direction is superimposed on the target intersection 52. The occupant 7 can accurately grasp the position of the target intersection and the passing direction at the target intersection by visually recognizing the virtual image 8.

  Further, in the present embodiment, in the virtual image superimposing area 51, a spot that is visually recognized by superimposing with the virtual image 8 in particular (specifically, a spot that is lower than the upper end of the virtual image superimposing area 51 by ½ of the arrow width). However, the configuration is such that the change of the direction of the arrow is completed before the center line specified in S9 is reached. Furthermore, the change of the tilt angle of the arrow is completed at the same time as the change of the direction of the arrow is completed. Specifically, as shown in FIG. 17, the inclination angle α is displaced from 60 degrees to 90 degrees stepwise as the vehicle travels from the time when at least a part of the virtual image overlapping area 51 enters the target intersection. In particular, the inclination angle α is set to 90 degrees when a point that is visually recognized superimposed on the virtual image 8 reaches the center line specified in S9. On the other hand, the rotation angle β of the arrow is also gradually displaced from the time when at least a part of the virtual image overlapping area 51 enters the target intersection to 90 degrees (the vehicle passing direction at the target intersection 52) as the vehicle travels. Then, the rotation angle β of the arrow is set to 90 degrees when the point that is visually recognized superimposed on the virtual image 8 reaches the center line specified in S9. As a result, it is possible to displace the direction of the virtual image 8 of the arrow from the current traveling direction of the vehicle toward the passing direction of the vehicle at the target intersection without a sense of incongruity as the vehicle travels. Thereafter, the process proceeds to S11.

  In S <b> 11, the CPU 31 has a point that is visually recognized by being superimposed with the virtual image 8 in the virtual image superimposing area 51 (specifically, a point that is lower than the upper end of the virtual image superimposing area 51 by ½ of the arrow width). Then, it is determined whether or not the center line specified in S9 has been reached, that is, whether or not the change in the vehicle passing direction at the target intersection 52 in the direction of the arrow of the generated virtual image 8 has been completed. Note that the determination in S11 is performed using the captured image captured by the front camera 17 and the “road distance” measured in S6.

  And the vehicle in the object intersection 52 of the direction of the arrow of the virtual image 8 where the point which overlaps with the virtual image 8 and is visually recognized in the virtual image overlapping area 51 has reached the center line specified in S9, that is, the virtual image 8 to be generated. When it is determined that the change in the passing direction is completed (S11: YES), the process proceeds to S12. On the other hand, in the virtual image superimposing area 51, the point that is visually recognized in particular superimposed with the virtual image 8 does not reach the center line specified in S9, that is, the target of the direction of the arrow of the generated virtual image 8 When it is determined that the change in the passing direction of the vehicle at the intersection 52 has not been completed (S11: NO), the process returns to S10 and the image correction is continued.

  In S <b> 12, the CPU 31 detects the projected position of the image on the screen 5 and the screen 5 so that the spot that is visually recognized by being superposed on the virtual image 8 in the virtual image superimposing area 51 is maintained on the center line specified in S <b> 9. The position (namely, the generation distance L) is controlled.

  Specifically, as shown in FIG. 18, the position of the image 55 projected onto the screen 5 is gradually moved upward as the vehicle approaches the target intersection. As a result, the position of the virtual image 8 generated based on the video 55 gradually moves downward (on the ground side). As a result, even when the vehicle approaches the target intersection, a point that is visually recognized by being superposed on the virtual image 8 is maintained on the center line from the occupant 7, and the target intersection can be accurately identified. . Further, the CPU 31 shifts the generation distance L of the virtual image 8 according to the distance from the vehicle to the target intersection 52 simultaneously with moving the position of the image 55 projected onto the screen 5. Specifically, the distance from the occupant 7 to the center line is set as the generation distance L.

The generation distance L is controlled by driving the screen front / rear drive motor 24 to move the screen 5. Details of the process of S12 will be described below.
First, the CPU 31 sets the target generation distance De, which is the target value of the generation distance L of the virtual image 8, to the current distance from the occupant 7 to the center line. The distance from the occupant 7 to the center line may be detected based on a captured image captured by the front camera 17 or may be detected based on map information. Next, the CPU 31 reads the position setting table from the flash memory 34 and acquires the position (target movement position) of the screen 5 for generating the virtual image 8 at a position separated by the target generation distance De. The position setting table indicates the position of the screen 5 for generating the virtual image 8 at the generation distance L for each settable generation distance L (in this embodiment, 0.5 m unit between 2.5 m and 20 m). Is stipulated. Subsequently, the CPU 31 determines the drive amount (number of pulses) of the screen front-rear drive motor 24 necessary for moving the screen 5 to the target movement position. Thereafter, the CPU 31 transmits a pulse signal for driving the screen front / rear drive motor 24 by the determined drive amount to the screen front / rear drive motor 24. The screen front / rear drive motor 24 that has received the pulse signal drives based on the received pulse signal. As a result, the screen 5 moves to a target movement position where the virtual image 8 is generated at a position separated by the set target generation distance De.

  Then, as a result of moving the screen 5 to a position where the generation distance L of the virtual image 8 is the distance from the occupant 7 to the center line by the above processing, the occupant 7 receives the target intersection regardless of the distance from the vehicle to the target intersection. Since the virtual image 8 of the arrow indicating the passing direction can always be visually recognized at the position of the target intersection, the target intersection can be accurately specified.

  Next, in S <b> 13, the CPU 31 determines whether the vehicle starts turning or whether the lower end of the virtual image superimposing area 51 has moved above the center line.

  When it is determined that the vehicle has started turning or the lower end of the virtual image superimposing area 51 has moved upward from the center line (S13: YES), the virtual image generation processing program is terminated. Thereafter, after the virtual image 8 of the arrow is once erased, the traveling direction of the vehicle on the road on which the vehicle travels after passing the target intersection at a position ahead of the reference distance from the vehicle as shown in FIG. 10 (except for curved roads). Basically, the virtual image 8 of the arrow indicating the straight direction) is generated again (S1, S2).

  On the other hand, when it is determined that the vehicle has not started to turn and the lower end of the virtual image superimposing area 51 is not located above the center line (S13: NO), the process returns to S12 and the image correction is continued. And do it.

  As described above in detail, according to the HUD 1 according to the present embodiment, an image is projected from the projector 4 onto the screen 5, and the image projected onto the screen 5 is reflected on the front window 6 of the vehicle 2. 7, the virtual image of the image | video which the passenger | crew 7 of a vehicle visually recognizes is produced | generated. Further, when the distance from the virtual image superimposing area 51 to the target intersection 52 is within a predetermined distance, the virtual image 8 of the arrow inclined toward the vehicle passing direction at the target intersection is generated (S8, S10). Therefore, even if the occupant 7 is at a position away from the target intersection 52, the passing direction at the target intersection 52 can be grasped in advance without increasing the amount of information. Therefore, the vehicle can be appropriately traveled along the passing direction at the target intersection 52.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in the present embodiment, the virtual image is generated in front of the front window 6 of the vehicle 2 by the HUD 1, but the virtual image may be generated in front of a window other than the front window 6. In addition, the object to be reflected by the HUD 1 may be a visor (combiner) installed around the front window 6 instead of the front window 6 itself.

  In the present embodiment, the HUD 1 is installed on the vehicle 2. However, the HUD 1 may be installed on a moving body other than the vehicle 2. For example, it can be installed on a ship or an aircraft. Moreover, you may install in the ride type attraction installed in an amusement facility. In that case, a virtual image can be generated around the ride so that the rider can visually recognize the virtual image.

  Further, in the present embodiment, the projected position of the image with respect to the screen 5 and the position of the screen 5 (that is, the position that is visually recognized superimposed on the virtual image 8 in S12 is maintained on the center line specified in S9 (that is, Although the generation distance L) is controlled, the generation distance L) may be maintained at a point other than the center line as long as the point is within the target intersection.

  In this embodiment, the screen 5 is moved along the optical path to change the optical path length between the screen 5 and the mirror 11. However, the screen 5 is fixed and the mirror 11 is moved along the optical path. It is good also as a structure which changes the optical path length between the screen 5 and the mirror 11 by making it move.

  In this embodiment, a laser scanning projector that does not require a projection lens is used, but a projector other than the laser scanning projector (for example, a DLP projector, a liquid crystal projector, or an LCOS projector) may be used.

  In this embodiment, the screen is composed of one screen, but the number of screens may be two or more. When two or more screens are used, all the screens may be configured to be movable along the optical path, or only a part of the screens may be configured to be movable along the optical path.

  Further, in the present embodiment, the virtual image generation processing program (FIG. 9) is configured to be executed by the CPU 31 of the HUD 1, but a configuration in which a part or all of the processing is executed by the navigation device 48 or other vehicle-mounted device may be employed.

  Moreover, although the embodiment which actualized the virtual image display device according to the present invention has been described above, the virtual image display device can also have the following configuration, and in that case, the following effects can be obtained.

For example, the first configuration is as follows.
A virtual image of the image is installed in the vehicle by reflecting the image projected onto the screen, a projector for projecting the image on the screen, and allowing a user who is an occupant of the vehicle to visually recognize the image. Virtual image generating means for generating within a generatable range in front of the traveling direction, and an overlapping area specifying means for specifying an area of the front environment that is visually recognized as being superimposed on the generatable range by the user as a virtual image overlapping area, Route acquisition means for acquiring a planned travel route of the vehicle, and target intersection acquisition means for acquiring a target intersection included in the planned travel route, wherein the virtual image travels along the planned travel route An arrow that guides the traveling direction of the vehicle to perform the virtual image generation means from the virtual image superimposing area to the target intersection. Away is the case is within a predetermined distance, and generating a virtual image of an arrow which is inclined passage direction of the vehicle at the target intersection.
According to the virtual image display device having the above configuration, the virtual image of the arrow indicating the traveling direction of the vehicle is displayed, and the arrow displayed as the virtual image is tilted according to the passing direction at the target intersection ahead of the traveling direction of the vehicle. Therefore, even if the user is at a position away from the target intersection, the direction of passage at the target intersection can be grasped in advance without increasing the amount of information. Therefore, it is possible to appropriately drive the vehicle along the passing direction at the target intersection.

The second configuration is as follows.
The virtual image generating means generates a virtual image of an arrow having a larger inclination angle toward the passing direction of the vehicle at the target intersection as the distance from the virtual image superimposing area to the target intersection becomes shorter.
According to the virtual image display device having the above configuration, the user can grasp the distance to the next target intersection by visually recognizing the virtual image of the arrow without increasing the amount of information.

The third configuration is as follows.
The virtual image generating means generates an arrow pointing in a first direction which is a traveling direction of the vehicle on a road on which the vehicle currently travels before at least a part of the virtual image overlapping area enters the target intersection. It is characterized by.
According to the virtual image display device having the above configuration, in a situation where the distance from the vehicle to the target intersection is far away and the virtual image of the arrow cannot be generated by being superimposed on the target intersection, basically an arrow indicating the current traveling direction of the vehicle Since the virtual image is generated, the user does not misidentify the intersection that turns right or left.

The fourth configuration is as follows.
The virtual image generating means is directed stepwise from the first direction to the second direction that is the passing direction of the vehicle at the target intersection after at least a part of the virtual image overlapping area enters the target intersection. It is characterized by generating an arrow that changes
According to the virtual image display device having the above configuration, in a situation where the vehicle approaches the target intersection and the virtual image of the arrow can be superimposed on the target intersection and generated, the virtual image of the arrow pointing in the traveling direction of the target intersection is generated. It becomes possible for the user to accurately grasp the position of the intersection and the passing direction of the target intersection. In addition, since the direction of the arrow changes stepwise, it is possible to displace the direction of the arrow from the current traveling direction of the vehicle to the passing direction of the vehicle at the target intersection without a sense of incongruity.

The fifth configuration is as follows.
The virtual image generating means is configured such that, in the virtual image superimposing area, in particular, a point that is visually recognized by being superimposed with the virtual image passes through the center of the lane that the vehicle travels after passing the target intersection and is parallel to the lane. An arrow that changes its direction in the second direction before reaching the center line that is a straight line is generated.
According to the virtual image display device having the above-described configuration, the direction of the arrow is changed step by step so that the target intersection and the virtual image of the arrow overlap with the most appropriate positional relationship to become an arrow that points in the traveling direction of the target intersection. Therefore, it becomes possible for the user to accurately grasp the position of the target intersection only with the virtual image of the arrow.

The sixth configuration is as follows.
In the virtual image superimposing area, in particular, after the point that is visually recognized by being superimposed with the virtual image reaches the center line, the point that is visually recognized by being superimposed with the virtual image is maintained on the center line. Projection control means for controlling the projection position of the image on the screen is provided.
According to the virtual image display device having the above configuration, after the target intersection and the virtual image of the arrow are superimposed in the most appropriate positional relationship, the image projection position is controlled so as to maintain the positional relationship. It becomes possible for the user to accurately grasp the position of the target intersection regardless of the distance up to.

The seventh configuration is as follows.
A generation distance change that changes a generation distance that is a distance from the user to a position where the virtual image is generated by changing an optical path length between the screen and a concave mirror that reflects the image projected on the screen. Means, and after the spot that overlaps with the virtual image in the virtual image overlapping area reaches the center line, the generation distance is the distance from the user to the center line. Generation distance control means for controlling the generation distance.
According to the virtual image display device having the above-described configuration, after the virtual image of the arrow reaches the position of the target intersection, the generation distance is controlled so that the virtual image of the arrow is generated continuously at the position of the target intersection. It becomes possible for the user to accurately grasp the position of the target intersection regardless of the distance from the target intersection to the target intersection.

DESCRIPTION OF SYMBOLS 1 Head up display apparatus 2 Vehicle 3 Dashboard 4 Projector 5 Screen 6 Front window 7 Crew 8 Virtual image 17 Front camera 24 Screen front-rear drive motor 31 CPU
32 RAM
33 ROM
34 Flash memory 51 Virtual image overlay area 52 Target intersection 54 Center line 55 Video

Claims (7)

Installed in the vehicle,
Screen,
A projector that projects an image on the screen;
A virtual image generating means for generating a virtual image of the video within a generation possible range ahead of the traveling direction of the vehicle by reflecting the video projected on the screen and allowing a user who is an occupant of the vehicle to visually recognize the video;
Superimposition area specifying means for specifying the area of the front environment that is visually recognized by being superposed on the generatable range by the user as a virtual image superposition area;
Route acquisition means for acquiring a planned travel route of the vehicle;
Target intersection acquisition means for acquiring a target intersection included in the planned travel route,
The virtual image is an arrow that guides the traveling direction of the vehicle for the vehicle to travel along the planned travel route,
The virtual image generating means generates a virtual image of an arrow inclined toward the passing direction of the vehicle at the target intersection when the distance from the virtual image superimposing area to the target intersection is within a predetermined distance. Virtual image display device.   The virtual image generating unit generates a virtual image of an arrow having a larger inclination angle toward the passing direction of the vehicle at the target intersection as the distance from the virtual image superimposing area to the target intersection becomes shorter. Item 8. The virtual image display device according to Item 1.   The virtual image generating means generates an arrow pointing in a first direction which is a traveling direction of the vehicle on a road on which the vehicle currently travels before at least a part of the virtual image overlapping area enters the target intersection. The virtual image display device according to claim 1, wherein:   The virtual image generating means is directed stepwise from the first direction to the second direction that is the passing direction of the vehicle at the target intersection after at least a part of the virtual image overlapping area enters the target intersection. The virtual image display device according to claim 3, wherein an arrow for changing the position is generated.   The virtual image generating means is configured such that, in the virtual image superimposing area, in particular, a point that is visually recognized by being superimposed with the virtual image passes through the center of the lane that the vehicle travels after passing the target intersection and is parallel to the lane. The virtual image display device according to claim 4, wherein an arrow that changes a direction in the second direction before reaching a center line that is a straight line is generated.   In the virtual image superimposing area, in particular, after the point that is visually recognized by being superimposed with the virtual image reaches the center line, the point that is visually recognized by being superimposed with the virtual image is maintained on the center line. The virtual image display device according to claim 5, further comprising a projection control unit that controls a projection position of the image on the screen. A generation distance change that changes a generation distance that is a distance from the user to a position where the virtual image is generated by changing an optical path length between the screen and a concave mirror that reflects the image projected on the screen. Means,
The generation distance is set so that the generation distance is the distance from the user to the center line after a point that is visible in the virtual image overlap area, in particular, overlapping with the virtual image, reaches the center line. The virtual image display device according to claim 5, further comprising a generation distance control unit that controls the virtual image display device.

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