JP2024033934A - Viewpoint position estimation method and viewpoint position estimation device - Google Patents

Abstract

The present invention provides a viewpoint position estimating method and a viewpoint position estimation device that are capable of estimating the position of a driver's viewpoint in a vehicle that is not equipped with a camera for detecting the position of the driver's viewpoint. [Solution] A viewpoint position estimation method and a viewpoint position estimation device display a plurality of marks along the vertical direction of the vehicle in a display area that allows the surroundings of the vehicle to be seen, as seen from a user sitting in a driver's seat of the vehicle. . Identification information for identifying a specific mark that is visible to the user without being obscured by the dashboard of the vehicle is generated based on the user's operation, and the height of the user's viewpoint is estimated based on the identification information. [Selection diagram] Figure 1

Description

The present invention relates to a viewpoint position estimation method and a viewpoint position estimation device.

Patent Document 1 discloses the actual measured value of the height of the eye position of the driver of the vehicle when the driver is seated on the seat, and a predetermined superimposed display displayed on a head-up display installed in the vehicle. A technique is disclosed for adjusting the height of the driver's seat based on the deviation from the height of the reference position in a direction that reduces the deviation.

Patent No. 5992130

According to the technique described in Patent Document 1, a camera is used to obtain the actual measured value of the height of the driver's eye position when seated in the driver's seat. Therefore, in a vehicle that is not equipped with a camera that detects the position of the driver's eyes, there is a problem in that the height of the driver's seat cannot be adjusted in a direction that reduces the deviation.

The present invention has been made in view of the above problems. The purpose is to provide a viewpoint position estimation method and a viewpoint position estimation device that are capable of estimating the position of the driver's viewpoint in a vehicle that is not equipped with a camera for detecting the position of the driver's viewpoint. It is in.

In order to solve the above-mentioned problems, a viewpoint position estimation method and a viewpoint position estimation device according to one aspect of the present invention provide a viewpoint position estimation method and a viewpoint position estimation device that detect the surroundings of the vehicle along the vertical direction of the vehicle as seen from a user sitting in the driver's seat of the vehicle. Display multiple marks in a display area that is transparent. Identification information for identifying a specific mark that is visible to the user without being obscured by the dashboard of the vehicle is generated based on the user's operation, and the height of the user's viewpoint is estimated based on the identification information.

According to the present invention, the position of the driver's viewpoint can be estimated in a vehicle that is not equipped with a camera that detects the position of the driver's viewpoint.

FIG. 1 is a block diagram showing the configuration of a viewpoint position estimation device according to an embodiment of the present invention. FIG. 2 is a flowchart showing the processing of the viewpoint position estimation device according to an embodiment of the present invention. FIG. 3 is a schematic diagram showing the positional relationship among the user's viewpoint, the dashboard, the estimated position of the display area, and the virtual image. FIG. 4 is a diagram showing a first example of marks displayed in the display area. FIG. 5 is a diagram showing a second example of marks displayed in the display area.

Next, embodiments of the present invention will be described in detail with reference to the drawings. In the description, the same parts are given the same reference numerals and redundant description will be omitted.

[Configuration of viewpoint position estimation device]
A configuration example of a viewpoint position estimating device according to this embodiment will be described with reference to FIG. 1. As shown in FIG. 1, the viewpoint position estimating device is mounted on a vehicle, for example. As shown in FIG. 1, the viewpoint position estimation device includes a display section 21, an operation section 25, and a controller 100.

The display unit 21 is connected to the controller 100 and has a display area 23 that allows the surroundings of the vehicle to be transmitted through so that it can be viewed from the driver's seat of the vehicle or other vehicle seats. In the display area 23, an AR (Augmented Reality) guide (image) generated by the controller 100 is displayed. Therefore, in the display area 23, the AR guide is displayed superimposed on the scenery around the vehicle.

The AR guide presented by the display unit 21 includes, for example, a guide route to the vehicle's destination, a road map, the vehicle's current position, and POIs that are places of interest to the user scattered between the vehicle and the destination. It expresses things such as.

For example, the display unit 21 is a head-up display device. The display area 23 is a predetermined area on the windshield WS (windshield) of the vehicle, and the AR guide may be projected onto the display area 23 from the projector PJ to present the AR guide to the user. As a result, the user visually recognizes the AR guide superimposed on the scenery around the vehicle seen through the windshield WS.

The angle of the light beam when projecting the AR guide or the like from the projector PJ onto the display area 23 can be changed according to instructions from the controller 100, and the area used as the display area 23 in the windshield WS can be switched. shall be. More specifically, as shown in FIG. 3, the area RA on the windshield WS is used as the display area 23 during normal use, and the area RT on the windshield WS is used as the display area 23 during viewpoint position estimation. shall be carried out. In FIG. 3, an area RA indicates the position of the display area 23 during normal use (normal position), and an area RT indicates the position of the display area 23 during viewpoint position estimation (estimated position).

Compared to the normal position of the display area 23, the estimated position of the display area 23 is set to a lower position. This is to intentionally hide a part of the mark displayed in the display area 23 at the estimation position by the dashboard DB. More specifically, when the display area 23 is in the area RA, the light beam projected from the projector PJ passes through the opening OP of the dashboard DB, reaches the display area 23, and is reflected by the display area 23. An area RA is set so that the light enters the user's eyes. As a result, all of the marks displayed in the display area 23 are visible to the user. On the other hand, when the display area 23 is in the area RT, the area RT is set so that a part of the light beam projected from the projector PJ cannot pass through the opening OP of the dashboard DB and enters the user's eyes. be done. As a result, a portion of the mark displayed in the display area 23 is not visible to the user. As will be described later, information on whether the mark displayed in the display area 23 is visible is used to estimate the height of the user's viewpoint.

Note that when the display unit 21 is at the estimation position, a plurality of marks are displayed in the display area 23 along the vertical direction of the vehicle as viewed from the user sitting in the driver's seat. Here, the plurality of marks are AR guides that are displayed superimposed on the scenery around the vehicle seen through the windshield WS. For example, as shown in FIG. 3, the plurality of marks may be virtual images (marks M1 to M5) that appear to be floating in the space in front of the vehicle. The number of marks is not limited to the example in FIG. 3.

The operation unit 25 receives user operations corresponding to various user instructions to the viewpoint position estimating device, and transmits information specifying the various instructions to the controller 100. For example, the operation unit 25 may be an input interface with a plurality of buttons, or a touch panel with a touch interface.

More specifically, the display unit 21 displays icons expressed as pictures or symbols so that the user can operate them, and when the user touches or drags the displayed icons, the operation unit 25 allows the user to operate the icons. It may also be one that accepts .

There are various operations that the user can perform via the operation unit 25. For example, the user's operation may be an operation of identifying a specific mark that is visible to the user without being obscured by the dashboard DB from among the plurality of marks displayed in the display area 23. Further, the user's operation may be an operation of specifying the number of specific marks that are visible to the user without being blocked by the dashboard DB. Furthermore, the user's operation may be an operation of specifying the order in which marks are attached to each of the plurality of marks displayed by the display area 23. Visually recognizable specific marks can be identified based on the specified number or the specified order. Note that the "order" attached to the marks may be set such that the lower the mark is located along the vertical direction, the larger the number.

For example, the user may input the number of visible specific marks via the numeric keypad of the operation unit 25. Further, the user may input a number indicating the order attached to the visible specific mark via the numeric keypad of the operation unit 25.

In addition, the user may increase the specified number or the specified order by pressing the "UP" button. By pressing the "DOWN" button, the specified number or the specified order may be decreased. After that, for example, by pressing the "confirm" button, the specified number or the specified order may be set as the final determined numerical value.

In addition, the user's operation may be an operation of selecting at least one mark from among the plurality of marks displayed in the display area 23 as an emphasis mark. Here, the emphasis mark means a mark that is displayed by changing the brightness or color among the plurality of marks displayed in the display area 23. For example, the number of emphasis marks may be increased by pressing the "UP" button. Furthermore, the emphasis mark may be decreased by pressing the "DOWN" button.

When the emphasis mark and the specific mark match, the user may select the visible specific mark by pressing the "confirm" button. In other words, the user presses the "UP" or "DOWN" button until the emphasis mark and the specific mark match, and then presses the "Confirm" button after matching the emphasis mark and the specific mark. You may also select a mark.

Conversely, if a non-emphasized mark (a mark that is not an emphasized mark) and a specific mark match, the user may select a visible specific mark by pressing the "Confirm" button. In other words, the user can visually confirm by pressing the "UP" or "DOWN" button until the non-emphasized mark matches the specific mark, and then presses the "Confirm" button after matching the non-emphasized mark and the specific mark. You may also select a specific mark.

The controller 100 is a general-purpose computer that includes a CPU (Central Processing Unit), a memory, a storage device, an input/output unit, and the like. The controller 100 may be connected to a navigation device (not shown). For example, a navigation device performs route guidance for a vehicle.

A computer program for functioning as a viewpoint position estimation device is installed in the controller 100. By executing the computer program, the controller 100 functions as a plurality of information processing circuits (110, 120, 130, 140) included in the viewpoint position estimation device. Note that the computer program may be stored in a computer-readable and writable recording medium.

This embodiment shows an example in which a plurality of information processing circuits (110, 120, 130, 140) are realized by software. However, it is also possible to configure the information processing circuits (110, 120, 130, 140) by preparing dedicated hardware for executing each information processing described below. Further, the plurality of information processing circuits (110, 120, 130, 140) may be configured by individual hardware. Furthermore, the information processing circuits (110, 120, 130, 140) may also be used as a navigation device or a control unit used to control a vehicle.

As shown in FIG. 1, the controller 100 includes an image generation section 110, an identification information generation section 120, an estimation section 130, and an output section 140 as a plurality of information processing circuits (110, 120, 130, 140).

The image generation unit 110 generates an AR guide (image). For example, the image generation unit 110 generates an AR guide that overlaps the route the vehicle is scheduled to travel, which is visible to the user in the display area 23 when viewed from the driver's seat.

Furthermore, the image generation unit 110 generates a plurality of marks that are displayed along the vertical direction of the vehicle in the display area 23 when estimating the viewpoint position. For example, the plurality of marks are marks M1 to M5 that appear to be floating in the space in front of the vehicle. In FIGS. 3 to 5, marks M1 to M5 are shown as five rectangular marks displayed along the vertical direction of the vehicle. Note that among the marks M1 to M5, the marks M1 to M4 are specific marks that are visible to the user and are formed by a light beam that has passed through the opening OP of the dashboard DB, and the mark M5 is a mark that is visible to the user. It is a mark that is not visible to the user. The number, shape, color, etc. of marks are not limited to the example shown in FIG. 3.

Furthermore, the image generation unit 110 may generate a scale MD that specifies the order of the marks in the vertical direction, along with the plurality of marks. For example, the scale MD is a set of numbers placed next to the marks M1 to M5 that appear to be floating in the space in front of the vehicle. In FIG. 4, the scale MD is shown as a set of numbers attached to each of the marks M1 to M5. The scale MD is not limited to the example shown in FIG. 4, and for example, instead of adding numbers next to all marks, a predetermined number of marks, such as "5, 10, 15,..." The scale MD may be configured by assigning one number to each number.

For example, in the state of FIG. 4, the user may specify the number "4" to specify the marks M1 to M4 that are visible by the dashboard DB. In FIG. 4, the number "4" is the largest number among the numbers indicating the number of visible specific marks or the order in which the visible specific marks are attached. Thereby, the viewpoint position estimating device can identify the specific mark.

Note that the image generation unit 110 may set the brightness of the emphasis mark selected by the user's operation to a brightness different from that of a mark that is not an emphasis mark. The image generation unit 110 may set the color of the emphasis mark selected by the user's operation to a color different from that of a mark that is not an emphasis mark (non-emphasis mark). In FIG. 5, marks M4 and M5 are shown to have brightness or color different from those of other marks M1, M2, and M3.

For example, when the user presses the "UP" button in the state shown in FIG. 5, the mark M3 may be changed from a non-emphasis mark to an emphasis mark. Furthermore, when the user presses the "DOWN" button, the mark M4 may be changed from an emphasis mark to a non-emphasis mark. The user may select a visible specific mark by pressing the "Confirm" button with the marks M1 to M4 set as non-emphasized marks and the mark M5 set as an emphasized mark. Thereby, the viewpoint position estimating device can identify the specific mark.

Based on the user's operation on the operation unit 25, the identification information generation unit 120 generates identification information that identifies a specific mark that is visible to the user without being obscured by the dashboard DB, among the marks displayed in the display area 23. generate.

More specifically, the identification information generation unit 120 generates specific marks based on the number of visible specific marks specified via the operation unit 25 or the order in which the visible specific marks are attached. It may also be one that generates identification information for identification. Further, the identification information generation unit 120 may extract an emphasis mark when a "confirm" button or the like is pressed, and use the emphasis mark as a specific mark. The identification information generation unit 120 may use the information for identifying the emphasis mark as identification information for identifying a specific mark.

Note that since the plurality of marks are displayed along the vertical direction of the vehicle as viewed from the user sitting in the driver's seat, the identification information generated by the identification information generation unit 120 does not specify a range of numbers. There may be. Marks to which the same "order" as the numbers included in the range are attached may be determined to be visible. For example, in the examples shown in FIGS. 3 to 5, "1 to 4" or "4" may be generated as the identification information.

The estimation unit 130 estimates the height of the user's viewpoint based on the identification information.

More specifically, when estimating the viewpoint position, the area RT on the windshield WS is used as the display area 23, and the angle of the light beam when projecting the AR guide or the like onto the display area 23 is set in advance. Therefore, the position of the virtual image (marks M1 to M5), which appears to be floating in the space in front of the vehicle, is determined from the angle of the light beam and the positional relationship of the windshield WS.

Therefore, based on the identification information, the estimation unit 130 identifies the reference mark located at the lowest position in the vertical direction among the specific marks and the point (reference point) on the windshield WS corresponding to the reference mark. In the example shown in FIG. 3, the estimation unit 130 identifies the mark M4 located at the lowest position in the vertical direction among the specific marks and the reference point PB on the windshield WS.

Note that the estimating unit 130 identifies the mark at the highest position in the vertical direction among the non-specific marks (marks that are not specific marks) as a reference mark, and determines the point on the windshield WS corresponding to the reference mark (reference point). ). The estimating unit 130 may place a virtual mark in the area between the specific mark at the lowest position and the non-specific mark at the highest position, and specify the virtual mark as the reference mark. Then, a point (reference point) on the windshield WS corresponding to the virtual mark may be specified.

The estimation unit 130 calculates the point where a straight line connecting the point where the reference mark is located and the reference point intersects with a straight line that passes through the driver's seat of the vehicle and extends in the vertical direction. Then, the estimation unit 130 sets the height of the intersecting point as the height of the user's viewpoint.

The output unit 140 outputs the AR guide generated by the image generation unit 110, a plurality of marks used when estimating the viewpoint position, and a scale. The output AR guide, multiple marks, and scales are displayed in the display area 23. In addition, the output unit 140 outputs the estimated height of the user's viewpoint.

[Processing procedure of viewpoint position estimation device]
Next, the processing procedure of the viewpoint position estimating device according to this embodiment will be explained with reference to the flowchart of FIG. 2. FIG. 2 is a flowchart showing the processing of the viewpoint position estimation device according to an embodiment of the present invention.

In step S101, the controller 100 moves the display area 23 to the estimation position (region RT).

In step S103, a plurality of marks are displayed in the display area 23 via the display area 23. Specifically, the image generation section 110 generates a plurality of marks, and the output section 140 outputs the generated plurality of marks to the display section 21. The plurality of output marks are presented to the user via the display area 23.

In step S105, the identification information generation unit 120 determines whether or not there has been a user operation via the operation unit 25.

If it is determined that there is no user operation (NO in step S105), step S105 is repeated.

If it is determined that there has been a user operation (YES in step S105), in step S107, the identification information generation unit 120 creates a specific mark that is visible to the user based on the user's operation on the operation unit 25. Generate identification information for identification.

In step S109, the estimation unit 130 estimates the height of the user's viewpoint based on the identification information.

In step S111, the controller 100 moves the display area 23 to the normal position (area RA).

In step S113, the image generation unit 110 generates an AR guide (image). At this time, the image generation unit 110 sets the display position of the AR guide based on the estimated height of the user's viewpoint.

In step S115, the output unit 140 outputs the AR guide generated by the image generation unit 110. The output AR guide is presented to the user via the display area 23. Thereafter, the processing of the viewpoint position estimating device ends.

[Effects of embodiment]
As described in detail above, the viewpoint position estimation method and viewpoint position estimation device according to the present embodiment transmit the surroundings of the vehicle along the vertical direction of the vehicle as viewed from the user seated in the driver's seat of the vehicle. Display multiple marks in the display area. Identification information for identifying a specific mark that is visible to the user without being obscured by the dashboard of the vehicle is generated based on the user's operation, and the height of the user's viewpoint is estimated based on the identification information.

This makes it possible to estimate the position of the driver's viewpoint in a vehicle that is not equipped with a camera that detects the position of the driver's viewpoint. As a result, when displaying the AR guide over the route on which the vehicle is scheduled to travel, the display position of the AR guide can be set in consideration of the position of the driver's viewpoint. Furthermore, the sense of discomfort when the AR guide is superimposed on the route the vehicle is scheduled to travel is reduced, leading to improved convenience for the user.

Further, the viewpoint position estimation method and viewpoint position estimation device according to the present embodiment may generate identification information including the number of specific marks based on a user's operation. Thereby, the position of the driver's viewpoint can be estimated based on the number of specific marks.

Furthermore, the viewpoint position estimation method and viewpoint position estimation device according to the present embodiment display a scale that specifies the order of the marks in the vertical direction in the display area together with the marks, and based on the user's operation, the identification information including the order is displayed. It may also be something that generates. Thereby, the position of the driver's viewpoint can be estimated based on the order of the specific marks. Furthermore, since the scale is displayed together with the marks, the burden on the user when counting visible specific marks is reduced, leading to improved convenience for the user.

Further, the viewpoint position estimation method and viewpoint position estimation device according to the present embodiment select at least one or more marks among the marks as an emphasis mark based on the user's operation, and change the color of the emphasis mark to the emphasis mark. The color may be set to a color different from the color of the exclusion mark. This reduces the burden on the user when specifying a visible specific mark. Furthermore, the user can intuitively determine whether or not the mark visible to the user has been correctly input into the system through the color of the highlighted mark in the display area. As a result, user convenience is improved.

Furthermore, the viewpoint position estimation method and viewpoint position estimation device according to the present embodiment select at least one or more marks as an emphasis mark based on a user's operation, and adjust the brightness of the emphasis mark to The brightness may be set to be different from the brightness of the mark to be excluded. The burden on the user when specifying a visible specific mark is reduced. Furthermore, the user can intuitively determine whether the mark visible to the user has been correctly input into the system through the brightness of the highlighted mark in the display area. As a result, user convenience is improved.

Each of the functions illustrated in the embodiments described above may be implemented by one or more processing circuits. Processing circuits include programmed processors, electrical circuits, and other devices such as application specific integrated circuits (ASICs) and circuit components arranged to perform the described functions. Also included.

Although the present invention has been described above in accordance with the embodiments, it is obvious to those skilled in the art that the present invention is not limited to these descriptions and that various modifications and improvements can be made. The discussion and drawings that form part of this disclosure should not be construed as limiting the invention. Various alternative embodiments, implementations, and operational techniques will be apparent to those skilled in the art from this disclosure.

It goes without saying that the present invention includes various embodiments not described here. Therefore, the technical scope of the present invention is determined only by the matters specifying the invention in the claims that are reasonable from the above description.

21 Display section 23 Display area 25 Operation section 100 Controller 110 Image generation section 120 Identification information generation section 130 Estimation section 140 Output section DB Dashboard MD Scale

Claims (6)

A viewpoint position estimation method for controlling a device including a display unit, an operation unit, and a controller, the method comprising:
The display section has a display area that transmits the surroundings of the vehicle,
The controller includes:
displaying a plurality of marks in the display area along the vertical direction of the vehicle as viewed from a user seated in a driver's seat of the vehicle;
generating identification information for identifying a specific mark among the marks that is not obscured by the dashboard of the vehicle and is visible to the user, based on the user's operation on the operating unit;
A viewpoint position estimation method comprising estimating the height of the user's viewpoint based on the identification information. The viewpoint position estimation method according to claim 1,
The controller includes:
A viewpoint position estimation method, characterized in that the identification information including the number of the specific marks is generated based on the operation. The viewpoint position estimation method according to claim 1,
The controller includes:
Displaying a scale specifying the order of the marks in the vertical direction in the display area together with the marks;
A viewpoint position estimation method, characterized in that the identification information including the order is generated based on the operation. The viewpoint position estimation method according to any one of claims 1 to 3,
The controller includes:
Based on the operation, at least one mark among the marks is selected as an emphasis mark;
A viewpoint position estimation method characterized in that the color of the emphasis mark is set to a color different from the color of the marks other than the emphasis mark. The viewpoint position estimation method according to any one of claims 1 to 3,
The controller includes:
selecting at least one or more of the marks as an emphasis mark based on the operation;
A viewpoint position estimation method characterized in that the brightness of the emphasis mark is set to a brightness different from the brightness of the marks other than the emphasis mark. A viewpoint position estimation device comprising a display section, an operation section, and a controller,
The display section has a display area that transmits the surroundings of the vehicle,
The controller includes:
displaying a plurality of marks in the display area along the vertical direction of the vehicle as viewed from a user seated in a driver's seat of the vehicle;
generating identification information for identifying a specific mark among the marks that is visible to the user without being obscured by a dashboard of the vehicle, based on the user's operation on the operating unit;
A viewpoint position estimating device that estimates the height of the user's viewpoint based on the identification information.

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