# US 12,223,861 B2 · Gradient change detection system, display system using same, and storage medium that stores program for moving body > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,223,861 B2 - Document ID: US12223861B2 - Status: Granted - Kind: B2 - Application number: 17/495,038 - Filed: 2021-10-06 - Published: 2022-01-27 - Granted: 2025-02-11 - Earliest claimed: 2019-04-11 - Assignees: Panasonic Intellectual Property Management Co., Ltd. - Applicants: Panasonic Intellectual Property Management Co., Ltd. - Inventors: Satoshi Matsui; Norikazu Katsuyama - Web page: https://patentgrep.com/patent/US12223861B2 ## CPC - G09G 3/002: {to project the image of a two-dimensional display, such as an array of light emitting or modulating elements or a CRT} - H04N 7/18: Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast - B60K 35/10: Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor - B60K 35/233: controlling the size or position in display areas of virtual images depending on the condition of the vehicle or the driver - B60K 35/28: characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver - B60K 35/81: for controlling displays - B60R 1/24: in front of the vehicle - G01C 9/00: Measuring inclination, e.g. by clinometers, by levels - G01C 19/00: Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects - G02B 27/01: Head-up displays - G09G 3/001: {using specific devices not provided for in groups G09G3/02 - G09G3/36, e.g. using an intermediate record carrier such as a film slide; Projection systems; Display of non-alphanumerical information, solely or in combination with alphanumerical information, e.g. digital display on projected diapositive as background (slide projectors per se G03B23/00 = 42 HP)} - G09G 5/00: Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators (image data processing or generation, in general G06T) - G09G 5/38: with means for controlling the display position - B60K 2360/177: Augmented reality - B60R 2300/205: using a head-up display - B60R 2300/305: merging camera image with lines or icons - B60R 2300/308: by overlaying the real scene, e.g. through a head-up display on the windscreen - G09G 2340/0464: Positioning - G09G 2380/10: Automotive applications - G09G: ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION (arrangements for transferring data between digital computers and displays G06F3/14; static indicating arrangements comprising an association of a number of separate sources or light control cells G09F9/00; static indicating arrangements comprising integral associations of a number of light sources H01J, H01K, H10H, H05B33/12; scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission, details thereof H04N1/00) - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS ## Abstract A gradient change detection system for a moving body for detecting a change in a gradient of a traveling path, the gradient change detection system includes a posture detection unit that detects a posture change amount in a rotation direction about a left-right direction with respect to a traveling direction of a moving body, and a gradient change detector that detects a change in a gradient of the traveling path based on the posture change amount or a variation amount in predetermined unit time of the posture change amount. ## Claims ### Claim 1 A display system comprising: a display processing device that controls display of an image based on a reference position and a correction amount; a gyro sensor that detects an angular velocity in a rotation direction about a left-right direction with respect to a traveling direction of a moving body; a displacement amount calculator that calculates a posture change amount as an angle amount based on the angular velocity detected by the gyro sensor; a correction processing device including a correction amount calculator that calculates a correction amount of a display position of the image based on the posture change amount; and a gradient change detector that detects a change in a gradient of a traveling path based on a variation amount in predetermined unit time of the posture change amount, wherein the gradient change detector detects that the moving body is undergoing a posture change due to a gradient change of the traveling path by detecting that an absolute value of the variation amount is larger than a predetermined first threshold value, the gradient change detector detects that a posture change due to a gradient change of the traveling path is completed by detecting that an absolute value of the variation amount is equal to or less than a predetermined second threshold value during the posture change due to the gradient change of the traveling path, the correction processing device reduces the correction amount based on a result of the gradient change detector detecting that the moving body is undergoing a posture change due to a gradient change of the traveling path, the second threshold value is smaller than the first threshold value. ### Claim 2 (depends on 1) The display system according to claim 1, wherein the display processing device displays the image at the reference position based on a result of the gradient change detector detecting that the moving body is undergoing a posture change due to a gradient change of the traveling path. ### Claim 3 (depends on 2) The display system according to claim 2, wherein the display processing device returns the image to the reference position based on a result of the gradient change detector detecting that the moving body starts a posture change due to a gradient change of the traveling path. ### Claim 4 (depends on 1) The display system according to claim 1, wherein the gradient change detector detects that a posture change of the moving body is started due to a gradient change of the traveling path by detecting that an absolute value of the variation amount becomes in a state of being larger than a predetermined first threshold value from a state of being equal to or less than the predetermined first threshold value. ### Claim 5 (depends on 4) The display system according to claim 4, wherein the correction processing device resets the correction amount to zero as adjustment of the correction amount. ### Claim 6 (depends on 4) The display system according to claim 4, wherein the correction processing device reduces the correction amount by a certain amount when the correction amount is equal to or more than a third threshold value, and resets the correction amount to zero when the correction amount is smaller than the third threshold value. ### Claim 7 (depends on 1) The display system according to claim 1, wherein the correction processing device corrects a display position of the image based on a result of the gradient change detector detecting that a posture change of the moving body due to a gradient change of the traveling path is completed. ### Claim 8 (depends on 1) The display system according to claim 1, wherein the correction processing device reduces the correction amount after a posture change starts or after the posture change is completed. ### Claim 9 (depends on 8) The display system according to claim 8, wherein the correction processing device reduces the correction amount and then holds the reduced correction amount. ### Claim 10 (depends on 1) The display system according to claim 1, further comprising a projection device that projects light representing the image. ### Claim 11 (depends on 1) The display system according to claim 1, wherein the moving body is a vehicle, and the image is a virtual image displayed in front of a windshield of the vehicle. ### Claim 12 A non-transitory storage medium that stores a program for a moving body for an arithmetic device to detect a state of a posture change of the moving body due to a change in a gradient of a traveling path, the program causing the arithmetic device to execute a gradient change detection step of (i) calculating a posture change amount based on an angular velocity in a rotation direction about a left-right direction with respect to a traveling direction of the moving body, the angular velocity being input from a gyro sensor, and (ii) detecting a change in a gradient of the traveling path based on a variation amount in predetermined unit time of the posture change amount, wherein the gradient change detection step detects that the moving body is undergoing a posture change due to a gradient change of the traveling path by detecting that an absolute value of the variation amount is larger than a predetermined first threshold value, the gradient change detection step detects that a posture change of the moving body due to a gradient change of the traveling path is completed by detecting that an absolute value of the variation amount is equal to or less than a predetermined second threshold value during the posture change of the moving body due to the gradient change of the traveling path, and the second threshold value is smaller than the first threshold value; a correction processing step of setting a correction amount of a display position of the image based on a posture change amount of the moving body; and a display processing step of controlling display of an image based on a reference position and a correction amount, wherein the correction processing step reduces the correction amount based on a detection result that the moving body is undergoing a posture change due to a gradient change of the traveling path by the gradient change detection step.