JP6365409B2 - Image display device for vehicle driver - Google Patents

Description

  The present invention relates to an image display device for visually providing various information to a vehicle driver using a head-up display (HUD) or the like as one of driving assistance for a vehicle such as an automobile, and more particularly. Relates to an apparatus including a configuration for guiding a driver's line of sight or a focal position so that information to be recognized is appropriately recognized by the driver according to the content thereof.

  In the field of driving support technology for vehicles such as automobiles, displays for warning the vehicle driver about objects such as pedestrians, other vehicles or other obstacles around the vehicle In order to visually recognize the display of various information related to the driving route, an image display such as a HUD is used, and characters, symbols, figures, objects are placed in the area of the driver's field of view such as on the windshield of the vehicle. There has been proposed a system that displays “image elements” (elements visually recognized on an image) such as images, luminance changes, patterns, and the like. For example, in Patent Document 1, in a HUD system that displays a warning display for a driver on a windshield of a vehicle, when the driver is warned of an obstacle, In order to prevent the visual field from being disturbed as much as possible, a configuration has been proposed in which a warning display is given to a peripheral visual field close to the outer edge of the driver's visual field, and then the warning display is gradually moved to the position of the obstacle. Further, in Patent Document 2, when providing route guidance to the driver, the line of sight is viewed from the upper area on the windshield in order to reduce the burden on the driver when confirming the route display. A configuration for displaying a virtual line to a position on a route to be guided has been proposed. At that time, it is disclosed that the display shape of the virtual line is changed so as to guide the driver's line of sight to a distant position when traveling on a slippery road such as an ice burn or when the traveling speed of the own vehicle is high. Yes.

JP 2003-291688 A JP2014-071020

  By the way, in general, when a person sees a certain object with his / her eyes, the focus of the eye is the target when recognizing an image of the object in the center of the field of view and a high-resolution area (center field of view) in the vicinity. (The focal length of the eye is equal to the distance to the object), and the shape and color of the object will be accurately recognized (in this way, the object is viewed using the central field of view) Visual recognition of this image is referred to as “central vision”). On the other hand, when recognizing an image of an object in the peripheral area of the visual field (peripheral visual field), the focal point is adjusted to a distance compared to the time of central vision, or at infinity, the movement of the object, Position and brightness are recognized (to visually recognize the image of the object using the peripheral visual field is referred to as “peripheral vision”). That is, when a person visually recognizes an object, the recognition mode of the object differs depending on whether the image of the object is captured with central vision or peripheral vision. Therefore, when the driver of the vehicle uses the display of the image by an image display such as HUD to assist in visually recognizing arbitrary information, the recognition mode when visually recognizing the image of the object. In consideration of the difference in information, the image elements for support can be displayed in an appropriate field of view according to the content of the information, or the information to be recognized is suitable for central vision or peripheral vision It is preferable that the driver's line of sight or focus can be guided so that the driver can visually recognize the method.

  In this regard, when there are a plurality of objects to be recognized by the vehicle driver using image display means such as HUD, for example, a pedestrian, another vehicle, an obstacle, a traffic sign, etc. The problem is how to display an image for recognizing the presence of the target object. For example, when a plurality of image elements for alerting are displayed at the same time in order to alert all of a plurality of objects to be visually recognized, in the case of a highly skilled driver, peripheral vision tends to be frequently used. Therefore, it is expected that all or most of the objects corresponding to the displayed image elements are visually recognized by peripheral vision. However, in the case of a driver who does not have high skill, the visual recognition method by central vision is used. Since there is a tendency, only a part of the displayed image element is visually recognized with central vision, and attention to other image display is reduced, and eventually only objects corresponding to some of the image elements are visually recognized. There is a case. Further, even when there are a plurality of objects to be visually recognized, depending on the necessity or difficulty of recognizing the information, it may be preferable to visually recognize the objects individually by central vision. Therefore, as an aid for recognizing the presence of a driver's object, an object to be visually recognized by the driver when alerting the driver or displaying information using image display means such as HUD. Depending on the configuration (number, type), it is preferable to be able to guide the driver's line of sight or focus so that the driver can visually recognize the object by an appropriate method (regardless of the skill or skill level of the driver). .

  Thus, an object of the present invention is to provide an object to be visually recognized by a driver in an apparatus that displays an image element using a head-up display (HUD) or the like in order to make a vehicle driver recognize various information. Based on the above configuration and the number thereof, a configuration capable of guiding the driver's line of sight or focus so that the driver's visual recognition method is suitable for central vision or peripheral vision is provided.

  According to the present invention, the above-described problem is an image display device for a vehicle driver, and image display means for displaying an image element within the field of view of the vehicle driver, and the driver should visually recognize the image element. Visual display object determining means for determining an object and an image element for guiding the line of sight for guiding the driver's line of sight so that the driver visually recognizes the object in either central vision or peripheral vision When the number of objects is larger than a predetermined number and the object is a moving pedestrian or animal or another vehicle having a relative speed greater than a predetermined speed, As a guidance image element, a peripheral vision guidance image element that causes a driver to visually recognize an object in peripheral vision is displayed on the image display means, and when the number of objects is smaller than a predetermined number, when the object includes a traffic sign, or ,Object In the case where the number is a pedestrian or animal with no movement and the object is a pedestrian or animal whose relative speed is smaller than the predetermined speed, the driver is requested to focus on the driver as a gaze guidance image element in the central view. And an image display means for displaying a central vision guidance image element to be visually recognized.

  In the above configuration, the “image element” is a two-dimensional display object displayed on the display screen of the image display means, such as a symbol, a character, a figure, a pattern, or an image of an actual object as described above. It's okay. Here, the “image display means” is typically an image display that can display an arbitrary “image element” superimposed on an image around the vehicle that enters the driver's field of view through a windshield such as a HUD device. However, the present invention is not limited to this. For example, a head mounted display device mounted on the driver's head may be used. As described above, the “object to be visually recognized by the driver” may be an actual object such as a pedestrian, other vehicle, an obstacle, a traffic sign indicating regulatory information, etc. existing around the vehicle. Information such as display of road guidance (display of the traveling direction of the vehicle) by the system may be used. Further, the “image element for guiding the line of sight” is an “image element” for guiding the driver's line of sight, and a symbol, a character, a figure, or a pattern attached to an image of an actual object that enters the driver's field of view. Or an image element such as a virtual object or a landscape. In particular, the “peripheral guidance image element” among the “visual guidance image elements” is an image element that allows the driver to visually recognize an object in peripheral vision as described above. As described above, the image element guides the driver's line of sight so that the driver's focus is far away or infinite. On the other hand, the “central vision guidance image element” is an image element that allows the driver to visually recognize the object in the central vision as described above, and guides the line of sight so that the eye is focused on the object to be visually recognized. It becomes an image element.

  In the present invention described above, in short, in a device of a type that visually provides various information to the driver of the vehicle using HUD or the like, the configuration of the object to be visually recognized by the driver. More specifically, according to the number and type of objects, an image for executing “peripheral vision guidance” that guides the driver's line of sight so that the driver visually recognizes the object in peripheral vision The image display means selectively displays the elements and the image elements for performing “central vision guidance” for guiding the driver's line of sight so that the driver visually recognizes the object in the central vision. . According to such a configuration, the driver can cause the object to be visually recognized by an appropriate visual recognition method according to the configuration of the object, regardless of the skill or skill level. In particular, in the above configuration, when there are a large number of objects to be visually recognized and the objects are moving, peripheral vision suitable for visually recognizing the movement, position, and brightness of the objects in the periphery of the visual field. Since the object is visually recognized at, the possibility of overlooking the object is reduced. On the other hand, when the number of objects to be visually recognized is small, when the objects include traffic signs such as road markings that display restriction information, or when there is no movement of the objects, the individual objects are visually recognized with central vision. Thus, when the number of objects is small, or when there is no movement of the objects and it is difficult to visually recognize the objects in peripheral vision, the objects are surely seen in the central vision. You can make it.

  In the embodiment, when an image of an object to be visually recognized enters the driver's field of view through the windshield and is visible, the image of the object need not be displayed on the image display means. In particular, when performing central vision guidance, an image element for alerting to visually recognize an object is displayed so as to overlap the image of the object in the driver's field of view or on an extension line of the object. (However, an image of the object may be displayed.) In particular, when performing peripheral vision guidance, image elements that do not concentrate the driver's consciousness so that the driver's line of sight faces far away or infinity through the windshield, for example, images of virtual landscapes, etc. May be displayed near the center of the driver's field of view.

  In an image display device of a type that visually provides various information to a vehicle driver using a conventional head-up display (HUD) or the like, when the driver visually recognizes an object, There is almost no consideration as to whether the driver visually recognizes the object by peripheral vision, and when the alert is displayed to visually recognize the object, the alert or display It was left to the driver to see the object itself as central vision or peripheral vision. In that case, as already mentioned, depending on the driver, for example, even if the number of objects is large and it is advantageous to view them in peripheral vision, the object can be visually recognized using central vision, Or, conversely, even when it is more advantageous to view the object in the central view, there are cases in which erroneous visual recognition is likely to occur when the object is viewed using the peripheral vision. On the other hand, according to the present invention, an appropriate method of central vision and peripheral vision is selected as a visual recognition method of the target object in consideration of the configuration (number, type) of the target object to be visually recognized. Since the driver is guided to the selected appropriate visual recognition method, the object is visually recognized by an appropriate method regardless of the skill of the driver. Then, as described above, when the driver's line of sight is guided so that the object is easily visually recognized according to the configuration, the time required for visual recognition of the object is shortened, and the driver can On the other hand, since it becomes possible to respond more quickly, improvement in safety and / or convenience in driving the vehicle is expected.

  Other objects and advantages of the present invention will become apparent from the following description of preferred embodiments of the present invention.

FIG. 1A is a schematic diagram for explaining the positional relationship between a driver and an HUD (image display means) in a vehicle to which an embodiment of an image display device for a vehicle driver according to the present invention is applied. FIG. 1B is a schematic view of a vehicle windshield on which the HUD screen is superimposed. FIG. 1C is a block diagram showing a configuration of an embodiment of an image display device for a vehicle driver according to the present invention. FIG. 2 is a flowchart showing the processing operation in the embodiment of the image display apparatus according to the present invention.

DESCRIPTION OF SYMBOLS 10 ... Vehicle 12 ... Windshield 14 ... Screen of HUD 20 ... Camera 30 ... Image projector 50 ... Electronic control apparatus (image display apparatus)

  The present invention will now be described in detail with reference to a few preferred embodiments with reference to the accompanying drawings. In the figure, the same reference numerals indicate the same parts.

Configuration of Apparatus The image display apparatus according to the present invention may be mounted on a vehicle such as a normal automobile. As schematically illustrated in FIG. 1A, in a vehicle 10 equipped with an image display device, a screen 14 on which an image or an image projected from a projector 30 is displayed is on a windshield 12. An image sensor such as a camera that is disposed within the field of view of the driver D and has a field of view set to include an area around the vehicle including the road ahead of the vehicle at the top of the windshield of the vehicle 10 or the front end of the vehicle. 20 is arranged. Image information signals around the vehicle front imaged by the image sensor 20 are transmitted to the electronic control unit 50, where, as will be described later, pedestrians, other vehicles, obstacles in the vehicle front area Processing relating to detection of objects such as objects and traffic signs, a visual recognition method when the driver visually recognizes the objects, determination of image elements and their positions, and control of image display are executed. The detection of the object may be performed by any method that can detect the presence and position of the object using a radar sensor or a laser sensor. Then, an image display control signal to be presented to the driver is sent from the electronic control device 50 to the projector 30 that projects the image, and the projector 30 displays the image determined by the electronic control device 50 on the screen 14. Project an element in its indicated position and manner. The screen 14 is formed of a substantially transparent material, and the visual field of the driver D is transmitted through the windshield 12 on the screen 14 as schematically illustrated in FIG. Image elements M and N such as symbols or graphics, image elements L of virtual objects and landscapes, and the like are projected together with the images of the pedestrians a to c entering the vehicle and the images of the vehicles d and e. As will be described later, there is provided a switch 35 that is energized when selecting a mode in which the driver's line of sight or focus is guided so that the visual recognition method is always peripheral vision (always peripheral vision guidance mode). Good.

  The electronic control unit 50 may include a microcomputer having a CPU, a ROM, a RAM, and an input / output port device, which are connected to each other by a bidirectional common bus, and a driving circuit. As schematically shown in FIG. 1B, the electronic control device 50 specifically recognizes the object and notifies the driver using the image data from the image sensor 20. Determination of an object to be handled, determination of whether to perform central vision guidance or peripheral vision guidance, determination of an image element to be displayed on the screen 14 and a position thereof to perform the determined guidance method, A processing unit is configured to execute each process such as control for displaying the image elements on the screen. In addition, an input of the switch 35 that is energized when the always peripheral vision guidance mode is selected may be received. These configurations and their operations may be realized by operations of an electronic control device (computer) 50 according to a program.

Processing of the image display device In the image display device according to the present invention, in short, when there is an object to be recognized by the driver in front of the vehicle, the configuration (number and type) of the object is determined. Accordingly, an image element is displayed on the screen 14 and guidance of the driver's line of sight or focus is performed so that the driver can visually recognize the object by an appropriate method of central vision and peripheral vision. Is done. In guiding the driver's line of sight or focus, more specifically, as described in the “Summary of the Invention” section, when the number of objects to be visually recognized is large and the objects are moving. The display of the image element (peripheral visual guidance image element) that guides the driver's line of sight or focus so that the driver visually recognizes the object in the peripheral vision is executed. On the other hand, when the number of objects to be visually recognized is small, or when the objects do not move, the image element (peripheral visual guidance) guides the driver's line of sight or focus so that the driver visually recognizes the object in the central view. (Image element) is displayed. The actual processing operation may be performed as follows.

  With reference to the flowchart of FIG. 2, in a specific processing operation in the image display device according to the present invention, first, is the driver energizing the switch 35 to always select the peripheral vision guidance mode? When the normal peripheral guidance mode is selected, the peripheral visual guidance (described in detail later) is always executed regardless of the configuration of the object to be visually recognized. The When the always peripheral vision guidance mode is not selected, the image data captured by the image sensor 20 is referred to detect the presence and position of an object in the area in front of the vehicle (step 12). When an object is detected, an object to be recognized by the driver is determined (step 14). The presence / absence and position (step 12) of the object from the image data can be detected by any image processing method. Specifically, the object is a display of a pedestrian, another vehicle, an obstacle, a traffic sign, or other regulatory information as described above. Of these objects, the determination of the object to be recognized by the driver or the object to be notified (notification object) may be made by any method. For example, when the relative distance from the subject vehicle and the angular position from the traveling direction of the subject vehicle are within predetermined ranges, the subject may be determined as the subject to be notified.

  As described above, when notification objects are determined, it is determined whether the number is larger than a predetermined number (step 16), and when the number of notification objects is larger than a predetermined number, the type of the notification object is referred to. Then, in the visual recognition of those notification objects, a determination is made as to which of peripheral vision and central vision is effective (step 18), and the guidance is performed as the driver's gaze or focus guidance. It is determined whether to select visual guidance or peripheral visual guidance.

Regarding the selection between central vision guidance and peripheral vision guidance, specifically, first, when the number of notification objects is smaller than a predetermined number, for example, when the number of objects is three or less, there are few objects to be visually recognized. Central vision guidance is selected. On the other hand, when the number of notification objects is larger than a predetermined number, for example, when the number of objects is four or more, the type of the object is referred to. More specifically,
(I) When the object is a pedestrian or an animal, if the object has movement, peripheral vision guidance suitable for visual recognition of the moving object is selected, and the object has no movement Therefore, central vision guidance is selected because it is difficult to notice in peripheral vision.
(Ii) When the object is a vehicle and the magnitude of the relative speed is higher than the predetermined speed, peripheral vision suitable for visual recognition of the moving object is selected, and the magnitude of the relative speed is the predetermined speed. If lower, central vision guidance is selected.
(Iii) When the object is a traffic sign or display of traffic regulation information, the central vision guidance suitable for visual recognition of the shape and color of the object is selected.
The selection of central vision guidance or peripheral vision guidance according to the type of object is based on a comprehensive judgment of the combination of the number of objects and the type of object, and either central vision or peripheral vision is effective depending on the situation. And guidance to a more effective viewing method may be selected.

  Thus, when the central vision guidance or the peripheral vision guidance is selected, generation of an image element that realizes guidance of the driver's line of sight and focus so that the selected visual recognition method is performed (step 20 or step 30). The position of the image element is determined (step 22 or step 32), and thus the determined image element is displayed on the screen 14 at the determined position (step 24 or step 34).

  When central vision guidance is executed, an image element is displayed such that the driver's line of sight and focus are adjusted to the notification target. Specifically, the central vision guidance is such that the image element of a symbol or character overlaps with an object to be visually recognized through the windshield 12 as shown in the figure M in FIG. Or after being displayed in the peripheral visual field as in the figure N, it moves through the windshield 12 to the object to be visually recognized through the windshield 12 (initially easy to capture in the peripheral vision). It may be done in such a manner that the display has a motion. Further, the image of the object to be recognized may be superimposed on the screen. When there are a plurality of objects, the priority of visual recognition is determined in consideration of the proximity of the objects, and central vision guidance is performed in the above-described manner on an object with a high priority, or a plurality of objects At the same time, the central vision guidance of the above aspect may be executed.

  When peripheral vision guidance is performed (including when the constant peripheral vision guidance mode is selected), the displayed image elements are centered on the driver so that the driver can widen the field of vision for peripheral vision. It may be an image that does not need to be visually recognized, for example, a virtual landscape image indicated by a symbol L in FIG. The display position and the size of the image element take into consideration other situations where the visual fulcrum that becomes the focal point in peripheral vision is, for example, 100 m ahead, 300 m ahead, 1 km ahead, etc. and enters the field of view through the windshield, It may be set as appropriate so that the driver can easily capture the peripheral visual field. The display position and size of the image element may be determined by calculation each time according to the surrounding environment, or may be fixedly set in advance.

  Thus, according to the above-described series of processing, the driver's line of sight so as to visually recognize the notification object by an appropriate method of central vision and peripheral vision according to the configuration (number, type) of the notification object. Alternatively, since the focus is guided, visual recognition of the object can be quickly achieved regardless of the skill of the driver, and improvement in safety and / or convenience in driving the vehicle is expected.

  Although the above description has been made in relation to the embodiment of the present invention, many modifications and changes can be easily made by those skilled in the art, and the present invention is limited to the embodiment exemplified above. It will be apparent that the invention is not limited and applies to various devices without departing from the inventive concept.

Claims (1)

An image display device for a vehicle driver,
Image display means for displaying image elements within the field of view of the driver of the vehicle;
Visual object determination means for determining an object to be visually recognized by the driver;
A line-of-sight guidance image that causes the image display means to display a line-of-sight guidance image element for guiding the driver's line of sight so that the driver visually recognizes the object in either central vision or peripheral vision. As an element display control means, when the number of objects is larger than a predetermined number and the object is a pedestrian or animal with movement, or another vehicle having a relative speed larger than a predetermined speed, , When the driver displays a peripheral vision guidance image element for visually recognizing the object in peripheral vision on the image display means, and the number of the objects is smaller than the predetermined number, when the object includes a traffic sign, Alternatively, when the number of objects is greater than the predetermined number and the object is a pedestrian or animal without movement, or another vehicle having a relative speed smaller than the predetermined speed, As derived image elements, and means for displaying the central vision derived image elements to visually recognize the object at the center when viewed in the driver image display means.

Images