JP2006276964A - Display device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a display device for a vehicle displaying information on a forward condition of the vehicle even in circumstances with poor visibility in front of the vehicle. <P>SOLUTION: In the display device, a control means 15 stores an obstacle image which is imaged by an imaging means 10 to show an obstacle positioned on a forward road of the vehicle, position information of the vehicle when the obstacle is imaged, or position information of the obstacle in a storage means 15d. Further, the display device 1 overlaps and displays a road shape image and the obstacle image stored in the storage means 15d on the basis of the position information of the vehicle or the position information of the obstacle stored in the storage means 15d when it is determined that the visibility in front of the vehicle is poor. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a display device for a vehicle, and more particularly to a display device for a vehicle that displays a road shape image showing a road shape in front of the vehicle.

  2. Description of the Related Art Conventionally, as a display device for a vehicle, as disclosed in Patent Document 1, a display device that displays a road shape display that represents a road shape in front viewed from the viewpoint of a vehicle driver is known. According to such a display device, even if it is difficult to visually check the actual runway shape due to the influence of weather conditions, a runway curve, surrounding vehicles, buildings, and the like, the driver can detect the actual runway shape from the runway shape display. The runway shape can be grasped.

In addition, such a display device for a vehicle is known that displays on a display device disposed in a vehicle in a display mode in which a captured image obtained by capturing the front of the vehicle is superimposed on a three-dimensional map image (Patent Document 2). reference). According to such a vehicle display device, the driver can confirm the presence of an obstacle such as a pedestrian or a fallen object on the map image.
JP 2000-211142 A JP 2002-48565 A

  However, in the vehicle display device that displays the captured image and the map image in a superimposed manner as described above, an imaging unit such as an infrared camera or a CCD camera that captures the captured image is used when the fog is fogged or snowing. In an environment with poor visibility in front of the vehicle, it may be difficult to image the front of the vehicle, and obstacles cannot be displayed by the captured image. There was room.

  The present invention has been made in view of the above problems, and is a vehicle display device that displays a road shape image showing a road shape in front of the vehicle, and the vehicle even in an environment with poor visibility in front of the vehicle. An object of the present invention is to provide a vehicle display device capable of displaying information related to the situation in front of the vehicle.

  In order to solve the above problems, the vehicle display device of the present invention stores at least imaging means for imaging the front of the vehicle, position detection means for detecting the position information of the vehicle, and map information including three-dimensional data. A medium, and a control unit that reads the map information based on the position information of the vehicle and causes a display unit to display a road shape image that three-dimensionally shows the road shape ahead of the vehicle, and the control unit includes: The storage means stores the object image indicating the object located on the road ahead of the vehicle imaged by the imaging means and the position information of the vehicle or the position information of the object when the object is imaged. When it is determined that the visibility ahead of the vehicle is poor, the road shape image and the description are recorded based on the vehicle position information or the object position information stored in the storage means. Superposing the said object image stored in the device characterized by comprising by displaying on the display means.

  In addition, when it is determined that the visibility in front of the vehicle is good, the control unit causes the display unit to display the object image obtained by the imaging unit so as to be superimposed on the road shape image. It is characterized by.

  Further, the control means is characterized in that the object image stored in the storage means is blinked and displayed on the display means.

  Further, the control means determines whether or not the object is an unmoving object, and stores the object image in the storage means when it is determined that the object is an unmoving object. It is characterized by.

  In addition, when it is determined that the object corresponding to the object image stored in the storage unit has not been captured again after storing the object image, the control unit stores the object image in the storage unit. The object image is erased.

  In addition, operation means for selecting the type of the object is provided, and the control means stores the object image corresponding to the type of the object selected by the operation means in the storage means. It is characterized by that.

  The present invention relates to a display device for a vehicle, and more particularly to a display device for a vehicle that displays a road shape image showing a road shape in front of the vehicle, and the front of the vehicle even in an environment with poor visibility in front of the vehicle. It is possible to display information on the situation of the.

  Hereinafter, a head-up display device (vehicle display device) according to an embodiment of the present invention will be described with reference to the accompanying drawings.

  In FIGS. 1 and 2, reference numeral 1 denotes a display unit (display means). The display unit 1 is disposed in the dashboard of the vehicle A. The display light L projected by the display unit 1 is reflected in the direction of the viewpoint D of the driver by the windshield W that has been subjected to the combiner process, and a virtual image V is displayed. The driver can visually recognize the virtual image V superimposed on the landscape.

  Reference numeral 2 denotes a display. The display 2 includes a TFT liquid crystal display element and a backlight. Reference numeral 3 denotes a circuit board, and the display 2 is mounted on the circuit board 3. Reference numeral 4 denotes a reflecting mirror. The reflecting mirror 4 reflects the display light L emitted from the display 2 to the windshield W. The reflecting surface 4a of the reflecting mirror 4 is concave, and the display light L from the display device 2 can be enlarged and projected onto the windshield W. Reference numeral 5 denotes a holding member, and the reflecting mirror 4 is bonded to the holding member 5 with a double-sided adhesive tape. The display 2 is not limited to a configuration including a liquid crystal display element, and may be configured to include an organic EL panel, for example.

  Reference numeral 6 denotes a housing, in which the display 2, the circuit board 3, the reflecting mirror 4, and the like are accommodated. The housing 6 is provided with a translucent cover 7 through which the display light L passes. The translucent cover 7 is made of a translucent resin such as acrylic and has a curved shape. The housing 6 is provided with a light shielding wall 6a to prevent a phenomenon (washout) in which external light such as sunlight is incident on the display 2 and the virtual image V becomes difficult to see.

  FIG. 3 is a block diagram of the head-up display device. The head-up display device includes an imaging means 10, a GPS (Global Positioning System) radio wave receiver (position detecting means) 11, a speed sensor 12, a storage medium 13, an operating means 14, a control means 15, and a display. 2 is mainly composed.

  As the imaging means 10, for example, a high-angle camera or an infrared camera having an imaging element such as a CCD or CMOS provided on an exterior part such as a front grill of the vehicle A or a room mirror in a vehicle interior is applied. A landscape in the peripheral area of the vehicle A including the front of A can be captured. Further, the imaging unit 10 outputs imaging data obtained by imaging to the control unit 15.

  The GPS radio wave reception unit 11 includes a GPS reception antenna, amplifies a transmission radio wave as position data (position information) received from the artificial satellite received by the reception antenna as a high frequency signal, and supplies the amplified signal to the control unit 15.

  The speed sensor 12 detects the traveling speed of the vehicle A and outputs a speed signal to the control means 15.

  The storage medium 13 is composed of a CD-ROM, DVD-ROM, hard disk, or the like, and stores map information (hereinafter referred to as digital map data) including three-dimensional data indicating road conditions. The digital map data is Drawing processing is performed by the processing described later by the control means 15. The digital map data includes road shape data indicating the shape of the road, height data indicating the height of the road at a predetermined position, inclination data indicating right and left inclinations of the road, and curvature indicating the curvature of the road. Has data etc.

  The operation means 14 has a plurality of switches such as a selection key and a determination key, and selects the type of obstacle (object) to be stored in the storage means described later. The driver performs a predetermined operation on the operation unit 14 to set the display unit 1 to a predetermined setting mode, and further selects a type of obstacle to be stored in the storage unit by a predetermined operation of the operation unit 14. Is possible. In addition, as selection of the kind of obstacle, selection by the name of a vehicle, a fallen object, etc. and selection by the magnitude | size (including height) of an obstacle are considered.

  The control unit 15 includes an image processing device 15a, a control unit 15b, a display control drive circuit 15c, and a storage unit 15d. The image processing device 15a receives the imaging data obtained by imaging the front landscape of the vehicle A imaged by the imaging means 10, and generates a captured image from the imaging data. The control unit 15b is constituted by a microcomputer, and includes a ROM, a RAM, a CPU, and an input / output interface circuit, and executes a predetermined program. The control unit 15b causes the display unit 1 to display a road shape image, which will be described later, based on the current position coordinates of the vehicle A calculated based on the position data from the GPS radio wave reception unit 11 and the digital map data. Further, the control unit 15b extracts an obstacle image indicating an obstacle located on the road ahead of the vehicle A from the captured image input from the image processing device 15a, and displays the obstacle image on the display unit 1 in the normal display mode to be described later. The obstacle image is displayed. Further, the control unit 15b stores the obstacle image in the storage unit 15d, and causes the display unit 1 to display the obstacle image stored in the storage unit 15d in a reproduction display mode described later. The display control drive circuit 15c is a drive control circuit for causing the display 2 to perform a predetermined display based on a control signal from the control unit 15b. The storage means 15d is made of, for example, an EEPROM or the like, and can store the obstacle image and the current position coordinates of the vehicle A when the obstacle is imaged in a nonvolatile manner.

  When the position data of the vehicle A is input from the GPS radio wave receiver 11, the control means 15 calculates the current position coordinates and the traveling direction of the vehicle A on the digital map data based on the position data. Further, the control means 15 reads out a data area indicating the road condition ahead of the vehicle A from the digital map data based on the current position coordinates and the traveling direction from the storage medium 13 and executes a three-dimensional drawing process. 1, a road shape image 20 showing a road shape ahead of the vehicle A as shown in FIG. In the three-dimensional drawing process, the control unit 15 calculates viewpoint coordinates based on the current position coordinates, and the three-dimensional drawing process so that the road shape image 20 has a shape when viewed from the viewpoint coordinates. I do. For example, when the viewpoint coordinates are set so as to be 10 m to 30 m above the driver's eye of the vehicle A, the road shape image 20 also has a road shape seen from 10 m to 30 m above the driver's eye.

  Next, the processing flow of the control means 15 for displaying the road shape image 20 and the obstacle image on the display 2 in a superimposed manner will be described with reference to FIG. It is assumed that the road shape image 20 is always displayed on the display unit 1.

  First, when the imaging data is input from the imaging unit 10, the control unit 15 determines the visibility in front of the vehicle A (step S1). When it is determined that the visibility in front of the vehicle A is good, the normal display is performed. When the mode is changed to steps S2 to S4 and it is determined that the visibility ahead of the vehicle A is poor, the mode is changed to the reproduction display mode and steps S5 to S6 are executed. As a method for determining the visibility in front of the vehicle A, for example, a pattern of a captured image when the visibility in front of the vehicle A is poor is stored in the storage unit 15d in advance as a comparison image, and the above-described image from the imaging unit 10 is stored. A method of determining that the visibility in front of the vehicle A is poor when the captured image obtained from the captured data approximates the comparative image is conceivable. As other methods, a determination method based on the focus of the imaging unit 10, a method of determining that the visibility of the front of the vehicle A is poor when the wiper or the headlight of the vehicle A is input, or the operation unit 14 The normal display mode and the reproduction display mode can be switched by the above, and when the operation signal for selecting the reproduction display mode is input by the operation means 14, a method for determining that the visibility in front of the vehicle A is poor is provided. Yes, any of these determination methods may be applied, or a plurality of determination methods may be used in combination.

  When it is determined in step S1 that the visibility ahead of the vehicle A is good, the control means 15 shifts to the normal display mode, and shows the obstacle located on the road ahead of the vehicle A from the captured image. An obstacle image is extracted (step S2). As the obstacle image extraction method, for example, the control unit 15 uses the captured image as a road area indicating a road ahead of the vehicle A, a road indicating a scenery outside the road, based on brightness, color, texture, or the like. The obstacle region is separated into obstacle regions which are located on the outer region and on the road and have a height higher than a predetermined value from the road surface, and the obstacle region is extracted as the obstacle image. If the obstacle image is not extracted in step S2, the control means 15 does not perform the processing after step S3.

  When the obstacle image is extracted in step S2, the control means 15 stores the obstacle image and the current position coordinates of the vehicle A when the obstacle is imaged as the storage obstacle image and the storage position coordinates, respectively. It is stored in 15d (step S3). In step S3, the control means 15 determines whether or not the obstacle shown in the obstacle image is an unmoving object, and if it is determined that the obstacle is an unmoving object, the obstacle The image is stored in the storage unit 15d. As a method for determining whether or not the obstacle is an unmoving object, for example, the obstacle is an unmoving object based on the captured image including the obstacle image, the current position coordinates of the vehicle A, and the traveling speed. In this case, a virtual captured image that will be obtained after a predetermined time is calculated, an actual captured image obtained after the predetermined time is actually compared with the virtual captured image, and an obstacle image is extracted from the actual captured image. A method for determining that the obstacle is a non-moving object is conceivable when the area where the obstacle image is extracted from the virtual captured image is approximate. In step S3, the control unit 15 determines whether or not the obstacle indicated in the obstacle image corresponds to the type of the obstacle selected by the operation unit 14, and the obstacle is the type. If it is determined that the obstacle image is satisfied, the obstacle image is stored in the storage unit 15d. In addition, whether it corresponds to the said classification is judged based on the shape or size of the said obstacle image, for example.

  Moreover, the control means 15 displays the obstacle image 21 on the display means 1 so as to overlap the road shape image 20 as shown in FIG. 6 (step S4). In displaying the obstacle image 21, a predetermined correction drawing process is performed according to the scale of the road shape image 20 and the viewpoint coordinates.

  In step S2, the control means 15 compares the current position coordinates of the vehicle A based on the position data from the GPS radio wave receiving unit 11 with the storage position coordinates stored in the storage means 15d, and the current position When the coordinates and the storage position coordinates are approximate, the storage content of the storage unit 15d is updated based on the latest captured image obtained from the imaging unit 10. That is, when the obstacle image is extracted from the captured image, the obstacle image newly obtained is stored in the storage unit 15d as the storage obstacle image, and the obstacle image is not extracted from the captured image. In this case, the stored obstacle image already stored in the storage unit 15d is deleted from the storage unit 15d. Accordingly, when the obstacle corresponding to the stored obstacle image once stored in the storage unit 15d is not imaged again, the stored obstacle image stored in the storage unit 15d is deleted. .

  If it is determined in step S1 that the visibility in front of the vehicle A is poor, the control means 15 shifts to the reproduction display mode and the current position coordinates of the vehicle A based on the position data from the GPS radio wave receiving unit 11. And the storage position coordinates stored in the storage means 15d (step S5), and the current position coordinates and the storage position coordinates are equal or the difference between the coordinates is equal to or less than a predetermined value (approximate) 7, the storage obstacle image 22 stored in the storage means 15d is displayed in a blinking manner on the display means 1 so as to overlap the road shape image 20 on the display means 1 (step S6). When displaying the memory obstacle image 22, predetermined correction drawing processing is performed according to the scale of the road shape image 20, the difference between the viewpoint coordinates, the current position coordinates, and the storage position coordinates. In addition, when the current position coordinates and the storage position coordinates are not approximated in step S5, the control unit 15 does not perform the process of step S6.

  Such a head-up display device includes at least an imaging means 10 that images the front of the vehicle A, a GPS radio wave reception unit 11 that detects the position data of the vehicle A, and a storage medium 13 that stores the digital map data including three-dimensional data. And control means 15 for reading out the digital map data based on the position data of the vehicle A and causing the display means 1 to display a road shape image 20 that three-dimensionally shows the road shape ahead of the vehicle A. The means 15 stores the obstacle image 21 indicating the obstacle located on the road ahead of the vehicle A imaged by the imaging means 10 and the current position coordinates of the vehicle A when the obstacle is imaged. When the image 22 and the storage position coordinates are stored in the storage unit 15d and it is determined that the visibility ahead of the vehicle A is poor, the storage unit 15d Based on the storage position coordinates, those formed by superposing a storage obstacle image 22 to be stored as a road shape image 20 in the memory unit 15d is displayed on the display unit 1. In addition, when it is determined that the visibility ahead of the vehicle A is good, the control unit 15 causes the display unit 1 to display the object image 21 obtained by the imaging unit 10 so as to be superimposed on the road shape image 20. Is.

  Therefore, such a head-up display device is imaged in the past as information relating to the situation ahead of the vehicle A even in an environment where the visibility in front of the vehicle A is poor and it is difficult to image the obstacle by the imaging means 10. Further, it is possible to display the memory obstacle image 22 indicating the obstacle on the display means 1, and the driver needs to pay attention on the road ahead of the vehicle A based on the display of the memory obstacle image 22. It is possible to estimate.

  Further, in the head-up display device, the storage obstacle image 22 stored in the storage unit 15d is blinked on the display unit 1 by the control unit 15 so that the storage obstacle image 22 is currently captured by the imaging unit 10. The driver can be notified that it is different from the obstacle.

  In the head-up display device, the control unit 15 determines whether or not the obstacle imaged by the imaging unit 10 is a non-moving object, and when the obstacle is determined to be a non-moving object. The obstacle image 21 is stored as the storage obstacle image 22 in the storage means 15d. Therefore, in the playback display mode, only the obstacle (parked vehicle, fallen object, etc.) with little fluctuation can be shown as the stored obstacle image 22, and it becomes possible to display highly reliable information. .

  In the head-up display device, the control unit 15 determines that the obstacle corresponding to the storage obstacle image 22 stored in the storage unit 15d has not been captured again after the storage obstacle image 22 is stored. Deletes the storage obstacle image 22 stored in the storage means. Therefore, the memory obstacle image 22 can be displayed based on the latest imaging result, and the display reliability can be improved.

  In addition, the head-up display device includes an operation unit 14 for selecting the type of the obstacle, and the obstacle image 21 corresponding to the type of the obstacle selected by the operation unit 14 is displayed by the control unit 15. The storage means 15d is stored as a storage obstacle image 22. Therefore, the driver can select and display information that is determined to be necessary in his / her driving, and the merchantability as a vehicle display device can be improved.

  In the embodiment of the present invention, the current position coordinate of the vehicle A is stored in the storage unit 15d as the storage position coordinate together with the obstacle image 21 in step S3. The obstacle image is used as the storage position coordinate. The position coordinates (position information) of the obstacle calculated based on 21 may be stored. The position coordinates of the obstacle can be obtained, for example, by providing a plurality of imaging cameras as the imaging means 10 and imaging the obstacle by so-called stereo vision. When the position coordinates of the obstacle are stored as the storage position coordinates, the storage obstacle image 22 is displayed when the storage position coordinates are included in the coordinate range displayed as the road shape image 20 in the reproduction display mode. Will be displayed.

  In the embodiment of the present invention, the head-up display device that projects the display light L from the display unit 1 onto the windshield W is taken as an example, but the vehicle display device of the present invention is displayed by the driver. It may be provided with display means for directly viewing the vessel.

It is principal part sectional drawing of the head-up display apparatus which is embodiment of this invention. It is the schematic which shows a head up display apparatus same as the above. It is a figure which shows the electrical constitution of a head up display apparatus same as the above. It is a figure which shows the example of a display of a head up display apparatus same as the above. It is a figure which shows the processing flow in the control means of a head up display apparatus same as the above. It is a figure which shows the example of a display of a head up display apparatus same as the above. It is a figure which shows the example of a display of a head up display apparatus same as the above.

Explanation of symbols

1 Display unit (display means)
2 Display 3 Circuit board 4 Reflecting mirror 5 Holding member 6 Housing 7 Translucent cover 10 Imaging means 11 GPS radio wave receiver (position detecting means)
12 Speed sensor

DESCRIPTION OF SYMBOLS 13 Storage medium 14 Operation means 15 Control means 15a Image processing apparatus 15b Control part 15c Display control drive circuit 15d Storage means 20 Road shape image 21 Obstacle image 22 Storage obstacle image (obstacle image)
A Vehicle L Display light V Virtual image W Windshield

Claims (6)

An image pickup means for picking up at least the front of the vehicle, a position detection means for detecting the position information of the vehicle, a storage medium for storing map information composed of three-dimensional data, and reading the map information based on the position information of the vehicle Control means for displaying a road shape image that three-dimensionally shows the road shape in front of the vehicle on the display means,
The control means includes an object image indicating an object located on a road ahead of the vehicle imaged by the imaging means and position information of the vehicle or position information of the object when the object is imaged. When it is determined that the visibility ahead of the vehicle is poor, the road shape image and the object are stored on the basis of the position information of the vehicle or the position information of the object stored in the storage means. A display device for a vehicle, wherein the object image stored in a storage means is superimposed on the display means and displayed on the display means. When it is determined that the visibility in front of the vehicle is good, the control means causes the display means to display the object image obtained by the imaging means so as to be superimposed on the road shape image. The vehicle display device according to claim 1. The vehicle display device according to claim 1, wherein the control unit causes the display unit to blink the object image stored in the storage unit. The control means determines whether or not the object is an unmoving object, and stores the object image in the storage means when the object is determined to be an unmoving object. The vehicle display device according to claim 1. When it is determined that the object corresponding to the object image stored in the storage means has not been captured again after storing the object image, the control means stores the object stored in the storage means The vehicle display device according to claim 1, wherein the object image is erased. Operating means for selecting the type of the object;
The vehicle display device according to claim 1, wherein the control unit stores the object image corresponding to the type of the object selected by the operation unit in the storage unit.

Images