JP2012133699A - Driving support device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle driving support device more contributing to a safety driving of the vehicle by easily recognizing insecurity related to an obstacle around the vehicle.SOLUTION: A driving support device 1 for vehicle includes selection means 13 which selects the obstacle approaching to the vehicle based on an own vehicle position and driving information of the vehicle and obstacle information around the vehicle to be detected by a radar 8, and forecast means 14 which forecasts a time and position of the obstacle selected by the selection means to be appeared on a running route of the vehicle or around the running route, and projects to a portion of a windshield 20 of the vehicle so that an image showing the state of the obstacle appeared on the running route of the vehicle or around the running route is superimposed on an actual image observed through the windshield of the vehicle, based on the time and position forecasted by the forecast means. The insecurity related to the obstacle to be appeared in the near future on the running route, etc., of the own vehicle becomes easily recognizable by the driver in the state looking ahead through the windshield without turning away a sight line.

Description

  The present invention relates to a vehicle driving support device, and more particularly to a vehicle driving support device that acquires information on obstacles around the host vehicle and contributes to safe driving.

  As described in Patent Document 1, for example, the vehicle navigation apparatus can display a travel route to the set destination on the display, store a route traveled by the automobile, and display the route on the display. . Furthermore, in addition to the function of the vehicle navigation device, a vehicle driving support device that detects surrounding obstacles and displays information on the detected obstacles on a display has been proposed.

  As such a vehicle driving support device, for example, Patent Document 2 proposes an information presentation system that presents information on obstacles around the vehicle to the user. This system contributes to safe driving by displaying the obtained obstacle information on the windshield of the vehicle using a virtual image display device.

JP 2002-81955 A JP 2009-120181 A

  However, in the information presentation system described in the above-mentioned Patent Document 2, it is difficult to recognize the danger because it simply notifies the driver of obstacle information around the vehicle using a virtual image display. There was room.

  Therefore, the present invention has been made in view of the above-described problems in the prior art, and provides a vehicle driving support device that can more easily recognize the danger related to obstacles around the vehicle and contribute to safe driving of the vehicle. The purpose is to do.

  In order to achieve the above object, the present invention provides a vehicle driving support device that approaches a vehicle based on the vehicle position / driving information of the vehicle and obstacle information around the vehicle detected by a radar. A selecting means for selecting the obstacle being selected, a predicting means for predicting the time and position at which the obstacle selected by the selecting means appears on or near the travel route of the vehicle, and the prediction means The state where the obstacle appears on the traveling route of the vehicle or in the vicinity of the traveling route in the actual image observed through the windshield of the vehicle on the portion of the vehicle windshield based on the time and position Projecting so as to superimpose an image to be shown.

  According to the present invention, in the near future, an image showing an obstacle approaching the vehicle appearing on or near the travel route of the vehicle is superimposed on the actual image observed through the windshield of the vehicle. Therefore, it is easier for the driver to recognize the dangers related to obstacles that appear on the traveling route of the vehicle in the near future while looking forward through the windshield without diverting his line of sight. Therefore, it is possible to contribute by safe driving of the vehicle.

  In the above vehicle driving support device, when the radar detects an obstacle approaching from the side or / and behind the vehicle, the projection means relates to the obstacle approaching the vehicle. Information can be projected on the windshield part of the vehicle, and information on obstacles approaching from the side or / and behind is also projected on the windshield part, so that the driver can look away. Therefore, it is possible to obtain information on these obstacles and contribute to safe driving.

  Further, the present invention is a vehicle driving support device, which is an obstacle approaching the vehicle based on the vehicle position / driving information of the vehicle and obstacle information around the vehicle detected by a radar. Selection means for selecting the vehicle, prediction means for predicting the time and position at which the obstacle selected by the selection means appears on or near the travel route of the vehicle, and the time and position predicted by the prediction device Based on the above, an image showing a state in which the obstacle appears on or near the travel route of the vehicle is displayed on the display unit of the vehicle navigation device.

  According to the present invention, in order to display an image indicating an obstacle approaching the vehicle in the near future on the travel route of the vehicle or in the vicinity of the travel route on the display unit of the vehicle navigation device, the driver Can more easily recognize dangers related to obstacles that appear on the travel route of the host vehicle in the near future, and can contribute to safe driving of the vehicle.

  In the vehicle driving support device, when the radar detects an obstacle approaching from the side or / and behind the vehicle, the display means relates to the obstacle approaching the vehicle. Information can be displayed on the display unit of the vehicular navigation device, and information related to obstacles approaching from the side or / and rearward can also be displayed, thereby further contributing to safe driving.

  In the vehicle driving support apparatus, the vehicle driving support device may further include voice notification means for notifying information about the obstacle approaching the vehicle by voice. By combining voice notification, the vehicle driving safety can be further improved. Can contribute.

  As described above, according to the present invention, it is possible to provide a vehicle driving support device that makes it easier to recognize the danger related to obstacles around the vehicle and contributes to safe driving of the vehicle.

1 is a block diagram showing an embodiment of a vehicle driving support apparatus according to the present invention. It is the schematic which shows the example of installation of the projection part of FIG. It is the schematic which shows one Embodiment of the moving image for driving assistance. It is a flowchart which shows operation | movement of the driving assistance device for vehicles concerning this invention. It is the schematic for demonstrating operation | movement of the driving assistance apparatus for vehicles concerning this invention.

  Next, an embodiment for carrying out the present invention will be described in detail with reference to the drawings.

  FIG. 1 shows an embodiment of a vehicle driving support apparatus according to the present invention. The vehicle driving support apparatus 1 also has a function as a vehicle navigation apparatus, and is roughly classified into GPS (Global Positioning System). Antenna 2, GPS receiver 3, acceleration sensor 4, gyro sensor 5, clock 6, operation unit 7, radar 8, recording unit 17, projection unit 18, display unit 19, and control unit 10 etc. In addition, the detection signal of the own vehicle speed is transmitted to the control part 10 from the existing speedometer 9 of the vehicle in which the vehicle driving support device 1 is installed.

  The GPS receiver 3 receives a GPS signal from a GPS satellite via the GPS antenna 2.

  The acceleration sensor 4 is provided for detecting acceleration during traveling of the host vehicle, and various sensors such as a mechanical type, an optical type, and a semiconductor type can be used.

  The gyro sensor 5 is provided for positioning and calculating a yaw angular velocity (rotational angular velocity) of the host vehicle, and a mechanical or optical sensor can be used.

  The timepiece 6 can generate the current time information of the vehicle driving support device 1 based on, for example, the oscillation frequency of the crystal resonator, and is always driven by a battery (not shown).

  The operation unit 7 includes an operation element for a user to operate the vehicle driving support apparatus 1 and outputs a control signal corresponding to an operation on the operation element. As the operation elements, for example, a power key for turning on / off the power of the vehicle driving support device 1 and a key for setting a guide from the current location to the destination are provided. These various keys may be provided, for example, as hardware keys in the housing of the vehicle driving support apparatus 1. When the display unit 19 is a touch panel display, the various keys are displayed as software keys. May be displayed.

  The radar 8 is an autonomous sensor that acquires obstacle information using detection waves such as millimeter wave radio waves and laser light, and irradiates the surroundings of the host vehicle while scanning the detection waves 360 degrees in the horizontal direction. And receives the reflected waves reflected by the obstacles such as other vehicles, bicycles, and pedestrians in the surroundings, and the shape, size, and position of the obstacles (the distance of the obstacles to the vehicle) , Direction, approach speed (relative speed), etc. are provided for acquiring obstacle information. The radar 8 transmits the acquired obstacle information as the first obstacle information to the obstacle selection unit 13.

  The recording unit 17 is, for example, an HDD (Hard Disc Drive) or a flash memory, and records map data and various moving images used for driving support described later.

  As shown in FIG. 2, the projection unit 18 is placed on the dashboard 21 of the vehicle, and is provided to project a driving assistance moving image to be described later on the windshield portion of the vehicle. As such a projection unit 18, for example, a head up display (HUD) technique for projecting a virtual image display can be used.

  The display unit 19 is composed of an LCD (Liquid Crystal Display), for example, and displays a map screen, a menu screen, and the like. As the display unit 19, for example, a touch panel display in which a touch panel having a touch sensor is stacked on an LCD can be used.

  The control unit 10 controls the entire vehicle driving support device 1, and includes an input control unit 11, a navigation processing unit 12, an obstacle selection unit 13, an obstacle position prediction unit 14, and a projection control unit 15. And the display control unit 16.

  The input control unit 11 determines input contents and selection contents based on a control signal corresponding to a user operation supplied from the operation unit 7, and outputs an operation signal to the navigation processing unit 12.

  The navigation processing unit 12 acquires position information indicating the position (latitude, longitude) of the vehicle based on the GPS signal received by the GPS receiving unit 3. When the destination is set by the user operating the operation unit 7, the operation signal is received from the input control unit 11, and the destination is determined from the current location based on the map data recorded in the recording unit 17. The travel route to is calculated.

  The obstacle selection unit 13 is an obstacle that is connected to the own vehicle based on the received obstacle information and the position / driving information of the own vehicle, with the GPS receiving unit 3, the radar 8 and the like being electrically connected. Is provided for selecting items having a size, speed, etc. within a predetermined range.

  The obstacle position prediction unit 14 determines that an obstacle approaching the host vehicle is based on the information about the obstacle selected by the obstacle selector 13 and the position / driving information of the host vehicle. Is provided for predicting the time and position appearing on or near the travel route, and the predicted obstacle position is transmitted to the projection control unit 15 and the display control unit 16 as second obstacle information.

  The projection control unit 15 is provided to generate a driving support moving image using a moving image recorded in the recording unit 17 based on the second obstacle information generated by the obstacle position etc. prediction unit 14. . As shown in FIG. 3A, the driving support moving image is projected onto the windshield 20 of the vehicle. For example, the vehicle character 30 that moves so as to jump out of the actual crossroads, and a warning associated therewith. It consists of sentence 31.

  The display control unit 16 reads out map data from the recording unit 17 to generate a map image, or performs a process of switching the display screen of the display unit 19 according to a user operation on the operation unit 7. Similarly to the projection control unit 15, a driving assistance moving image to be displayed on the display unit 19 can also be generated based on the second obstacle information.

  Next, the operation of the vehicle driving support apparatus 1 having the above-described configuration will be described with reference to FIGS.

  In step S1, it is determined whether or not the vehicle driving support device 1 is turned on or the start of the engine of the vehicle on which the vehicle driving support device 1 is mounted is detected. If the vehicle driving support device 1 is turned on or the start of the engine is detected, the process proceeds to step S2. On the other hand, if the vehicle driving support device 1 is not turned on or the engine start is not detected, the process returns to step S1.

  Next, in step S2, when the user operates the operation unit 7 of the vehicle driving support device 1 to set a destination, select a driving support moving image to be projected, etc., the navigation processing unit 12 In step S3, position / driving information is acquired based on the GPS signal from the GPS receiver 3, and a travel route from the current location to the destination is calculated based on the map data recorded in the recording unit 17 in step S4.

  When the driver starts driving the vehicle, in step S5, the GPS receiver 3, the acceleration sensor 4, the gyro sensor 5 and the like update the position / driving information of the own vehicle as needed and are recorded in the recording unit 17. The projection control unit 15 estimates the actual image observed through the windshield 20 based on the three-dimensional map data and the position / driving information.

  Next, when an obstacle 51 is detected around the vehicle by irradiating a laser around the vehicle with the radar 8 (step S6), as shown in FIG. Based on the obstacle information and the position / driving information of the host vehicle 50, it is determined whether the size, speed, etc. of the obstacle 51 approaching the host vehicle 50 are within a predetermined range. If it is within the range, in step 7, information such as the position P2 and speed V2 of the obstacle 51 is acquired as the first obstacle information. On the other hand, if no obstacle is detected by the radar 8 or if the obstacle selector 13 determines that the size, speed, etc. of the obstacle are not within the predetermined range, the process returns to step S6.

  Next, in step S8, the obstacle position prediction unit 14 approaches the host vehicle 50 based on the first obstacle information acquired in step S7 and the position / driving information of the host vehicle 50. A time T and a position P3 at which the obstacle 51 being approached appears on or near the travel route of the host vehicle 50 are predicted (see FIG. 5B). This prediction is performed by associating the first obstacle information with the actual image estimated by the calculation in the projection control unit 15, and transmits the related information to the projection control unit 15 as second obstacle information. To do.

  In step S9, the projection control unit 15 uses the moving image recorded in the recording unit 17 on the basis of the second obstacle information, and as shown in FIG. And generating a driving assistance video composed of a vehicle character 30 that actually jumps out at a position P3 at which the obstacle 51 that can be visually recognized appears on the travel route, and a warning sentence 31 associated therewith. Then, the image is projected through the projection unit 18 (step S10). This is a characteristic part of the present invention, and the vehicle character 30 moves so as to jump out from the actual road, so that the driver can easily grasp the obstacle information and can easily feel the danger. At this time, instead of the warning text as shown in FIG. 3A, the status may be notified by counting down, such as “5 · 4 · 3 · 2 ···”. Furthermore, instead of the vehicle character 30, a human-type animation character may appear and warn with “Be careful because it will come soon” while pointing to the left. Further, instead of projecting the vehicle character 30 or the like on the windshield 20 by the projection control unit 15, the vehicle character 30 or the like can be displayed on the display unit 19 of the vehicle driving assistance device 1 by the display control unit 16.

  The driver drives so as not to contact the obstacle 51 by, for example, slowing down the speed of the host vehicle 50 according to the projected driving support moving image. When the host vehicle 50 passes the position P3 where the obstacle 51 appears on the travel route, the projection of the driving assistance moving image is terminated in step S11.

  Note that the projection priority of the driving support moving image to be projected is higher as the position P2 of the obstacle 51 and the position P1 of the host vehicle 50 are closer, and higher as the speed V2 of the obstacle 51 is higher. Therefore, the projection control unit 15 and the display control unit 16 perform control so that the obstacle selection unit 13 appropriately selects and projects or displays obstacle information with high priority from the obstacle information received from the radar 8. For example, when the position of the obstacle 51 is far away or when the speed V2 is low, it is possible to control so as not to project the driving assistance moving image.

  As described above, according to the present invention, it is possible to provide a vehicle driving support device that allows a driver to more easily grasp information on an obstacle.

  In the vehicle driving support device 1 described above, the case where an obstacle is present in the front has been described. However, the present invention is not limited to this. For example, when the obstacle is approaching from the rear, FIG. As shown in the figure, a driving assistance moving image composed of a vehicle character 40 and a warning sentence 41 can be projected onto a portion of the windshield 20 of the vehicle. Similarly, a driving assistance moving image can be projected on a portion of the windshield 20 for an obstacle present in the left-right direction of the vehicle. Further, by providing a voice output unit separately, it is possible to notify the driver by voice instead of the warning text 31. As a result, when you are running with a person on the left or walking, if you turn left as it is, or if your vehicle turns right, the motorcycle hidden in the shadow of the oncoming lane It is possible to warn the arrival position, time, timing, etc.

DESCRIPTION OF SYMBOLS 1 Vehicle drive assistance apparatus 2 GPS antenna 3 GPS receiving part 4 Acceleration sensor 5 Gyro sensor 6 Clock 7 Operation part 8 Radar 9 Speedometer 10 Control part 11 Input control part 12 Navigation processing part 13 Obstacle selection part 14 Obstacle position etc. Prediction unit 15 Projection control unit 16 Display control unit 17 Recording unit 18 Projection unit 19 Display unit 20 Windshield 21 Dashboard 30, 40 Vehicle character 31, 41 Warning text 50 Own vehicle 51 Obstacle

Claims (5)

Selection means for selecting an obstacle approaching the vehicle based on the vehicle position / driving information of the vehicle and obstacle information around the vehicle detected by the radar;
Predicting means for predicting the time and position at which the obstacle selected by the selecting means appears on or near the travel route of the vehicle;
Based on the time and position predicted by the prediction means, the obstacle appears on the vehicle's windshield or in the vicinity of the vehicle's travel path in the actual image observed through the vehicle's windshield at the vehicle windshield part. A vehicle driving support apparatus that projects an image showing a state of appearing on the vehicle so as to be superimposed.   When the radar detects an obstacle approaching from the side or / and behind the vehicle, the projection means displays information on the obstacle approaching the vehicle on the part of the windshield of the vehicle. The vehicle driving support apparatus according to claim 1, wherein the driving support apparatus for a vehicle according to claim 1 is projected. Selection means for selecting an obstacle approaching the vehicle based on the vehicle position / driving information of the vehicle and obstacle information around the vehicle detected by the radar;
Predicting means for predicting the time and position at which the obstacle selected by the selecting means appears on or near the travel route of the vehicle;
Based on the time and position predicted by the prediction means, an image showing a state in which the obstacle appears on or near the travel route of the vehicle is displayed on the display unit of the vehicle navigation device. A vehicle driving support device.   When the radar detects an obstacle approaching from the side or / and behind the vehicle, the display means displays information on the obstacle approaching the vehicle on the display of the vehicle navigation device. The vehicle driving support device according to claim 3, wherein the vehicle driving support device is displayed on the unit.   The vehicle driving support device according to any one of claims 1 to 4, further comprising voice notification means for notifying information about an obstacle approaching the vehicle by voice.

Images