JP6674793B2 - Driving support information display device - Google Patents

Description

  The present invention relates to a driving support information display device.

  2. Description of the Related Art Conventionally, a driving support information display device that displays information for supporting a driver of a vehicle in driving (hereinafter, appropriately referred to as “driving support information”) on a display surface is known. As a driving assistance information display device, for example, by reflecting the light transmitted through a liquid crystal panel or the like with a windshield of a vehicle and making the reflected light incident on the driver's eyeball, the display surface as a virtual image to the driver There is known a head-up display device for visually recognizing a display, a head-mounted display device for visually recognizing a display surface by a wearing driver, and the like.

  As such a driving support information display device, for example, Patent Document 1 discloses that a virtual road marking or the like as driving assistance information is displayed so as to be superimposed on a road marking or the like outside a vehicle, thereby visually confirming the road marking or the like. A technique for improving the performance is disclosed.

JP 2010-256878 A

  By the way, an obstacle to be watched, such as a pedestrian or a falling object, may exist on the course of the vehicle, for example. When the driving support information is superimposed on such an obstacle, the visibility of the obstacle may be reduced.

  An object of the present invention, which has been made in view of the above problems, is to provide a driving support information display device that can improve the visibility of an obstacle outside a vehicle.

A driving assistance information display device according to an embodiment of the present invention includes a display surface generation unit that generates a display surface, a control unit that causes the display surface generation unit to display driving assistance information on the display surface, and an obstacle outside the vehicle. An obstacle detection unit that detects the position of the driver, and an eyeball detection unit that detects the position of the driver's eyeball, wherein the control unit detects the display position of the driving assistance information , and the detection position is detected by the eyeball detection unit. a position which does not overlap on a straight line connecting the position of the obstacle detected by the position and the obstacle detecting portion of the eyeball and the position of the eye rather based and position of the obstacle, until after a predetermined time has elapsed Of the obstacle, and changes the position to a position that does not overlap with the estimated path of the obstacle .
A driving assistance information display device according to an embodiment of the present invention includes a display surface generation unit that generates a display surface, a control unit that causes the display surface generation unit to display driving assistance information on the display surface, and an obstacle outside the vehicle. An obstacle detection unit that detects the position of the driver, and an eyeball detection unit that detects the position of the driver's eyeball. The control unit controls the position of the eyeball detected by the eyeball detection unit and the obstacle detection unit. Based on the position of the obstacle detected by the, the display position of the driving support information is changed to a position that does not overlap on a straight line connecting the position of the eyeball and the position of the obstacle, and the changed driving support information When another obstacle detected by the obstacle detection unit is superimposed on a straight line connecting the display position of the eyeball and the position of the eyeball, the transmittance of the display of the driving assistance information on the display surface is increased to increase the transmittance. Display driving assistance information .

  According to the driving support information display device according to the embodiment of the present invention, the visibility of an obstacle outside the vehicle can be improved.

It is a schematic diagram showing an example of composition of a driving support information display device concerning a 1st embodiment. FIG. 2 is a block diagram illustrating a configuration example of a driving support information display device of FIG. 1. It is the schematic which shows an example of the display surface and background which a driver visually recognizes. 3 is a flowchart illustrating a process executed by a control unit in FIG. 1. FIG. 2 is an explanatory diagram illustrating a process executed by a control unit in FIG. 1. It is a schematic diagram showing an example of composition of a driving support information display device concerning a 2nd embodiment. 7 is a flowchart illustrating a process executed by a control unit in FIG. 6.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

(First embodiment)
As shown in FIGS. 1 and 2, the driving assistance information display device 1 according to the first embodiment is a head-up display device, and includes a display surface generation unit 10, an obstacle detection unit 20, and an eyeball detection unit 30. , A positional relationship storage unit 40, and a control unit 50.

  The display surface generation unit 10 includes a liquid crystal display unit 11 and a projection optical system 12, and is housed in a dashboard or the like of the vehicle V. The liquid crystal display unit 11 emits the display light X to the outside of the display surface generation unit 10 via the projection optical system 12. The display light X is reflected by a semi-transmissive plate Y such as a windshield of the vehicle V, and the reflected display light X is incident on an eyeball E of a driver D of the vehicle V. As described above, when the display light X is incident on the eyeball E of the driver D, a virtual image is generated as a display surface 100 so as to be visible to the driver D at a predetermined position in front of the semi-transmissive plate Y.

  The liquid crystal display unit 11 includes a light source, a liquid crystal panel, and the like. Illumination light emitted from the light source is incident on the liquid crystal panel. As the liquid crystal panel, a transmissive or reflective liquid crystal panel is used, and illumination light passing through the liquid crystal panel is emitted as display light X outside the liquid crystal display unit 11.

  The projection optical system 12 has, for example, a mirror such as a concave mirror, reflects the display light X from the liquid crystal display unit 11, expands the display light X in the direction of the semi-transmissive plate Y, and emits it. Here, FIG. 1 illustrates a case where the projection optical system 12 has two mirrors, but the number of mirrors is not limited.

  The transflector Y may be a windshield of the vehicle V, or a combiner or the like provided to reflect the display light X from the projection optical system 12. The transflector Y reflects at least a part of the display light X emitted from the projection optical system 12 in the direction of the eyeball E of the operator M.

  The display surface 100 is a virtual image that is generated to be visible to the driver D when the display light X from the semi-transmissive plate Y enters the eyeball E of the operator M. In other words, the display surface 100 is a virtual image projected forward of the vehicle V in a manner superimposed on a background 200 such as a landscape outside the vehicle that can be visually recognized by the driver D through the semi-transmissive plate Y.

  The obstacle detection unit 20 is a device that detects the obstacle 201 outside the vehicle and its position, and detects a three-dimensional relative position of the obstacle 201 with respect to the obstacle detection unit 20. The obstacle detection unit 20 includes, for example, a vehicle periphery monitoring camera such as a monocular camera, a stereo camera, or a multi-camera that captures an image outside the vehicle, and a three-dimensional position measurement device such as a millimeter wave radar. The obstacle 201 refers to an object to be watched, such as a pedestrian or a falling object on the path of the vehicle V, in the background 200 outside the vehicle. The obstacle detection unit 20 detects, for example, an object that moves differently from other vehicles on the path of the vehicle V or an object that is detected as a human by detecting a characteristic portion, among the background 200 outside the vehicle, as an obstacle 201. To detect.

  The eyeball detection unit 30 is a device that detects the eyeball E of the driver D and the position thereof, and detects a three-dimensional relative position of the eyeball E with respect to the eyeball detection unit 30. The eyeball detection unit 30 includes, for example, a monitoring camera that captures an image of the inside of the vehicle, a line-of-sight detection sensor such as a visible light camera or an infrared camera that detects the line of sight of the driver D, and the like.

  The positional relationship storage unit 40 is a device that stores a relative three-dimensional positional relationship between the display surface 100, the obstacle detection unit 20, and the eyeball detection unit 30 (hereinafter, appropriately referred to as “relative positional relationship”). It is. Here, the position of the display surface 100 means a two-dimensional range in the display range of the display surface 100. The positional relationship storage unit 40 is configured by, for example, a nonvolatile storage device.

  The control unit 50 causes a display object such as the driving support information 101 to be displayed on the display surface 100. Specifically, the control unit 50 controls the illuminating light from the light source of the liquid crystal display unit 11 and the display of the liquid crystal panel to display a display object on the display surface 100. Here, the driving support information 101 is information for supporting the driving of the driver D of the vehicle V, and is, for example, road traffic information, navigation information, lane information, time information, speed limit / vehicle speed information, and the like. . The control unit 50 includes, for example, a microcomputer having a nonvolatile storage area and a processor that executes a control program stored in the storage area. Further, the control unit 50 executes a process described later. The control unit 50 may be configured by a control unit of the vehicle V.

  FIG. 3 is a schematic diagram illustrating an example of the display surface 100 and the background 200 visually recognized by the driver D. As shown in FIG. 3, the display surface 100 is displayed so as to be superimposed on the background 200. Further, driving support information 101 is displayed on the display surface 100. The background 200 includes a pedestrian that can be detected as the obstacle 201.

  Hereinafter, the processing executed by the control unit 50 of the driving support information display device 1 will be described with reference to the flowchart of FIG.

  The control unit 50 determines whether or not the obstacle detection unit 20 detects the obstacle 201 outside the vehicle (Step S101). When the obstacle 201 is not detected (No at Step S101), the control unit 50 repeats the process at Step S101. When the obstacle 201 is detected (Yes at Step S101), the control unit 50 proceeds to the process at Step S102.

  The control unit 50 acquires the position of the driver's D eyeball E detected by the eyeball detection unit 30 in the process of step S102, and proceeds to the process of step S103. Specifically, the position of the eyeball E detected by the eyeball detection unit 30 is a three-dimensional relative position of the eyeball E of the driver D with respect to the eyeball detection unit 30.

  The control unit 50 acquires the position of the obstacle 201 outside the vehicle detected by the obstacle detection unit 20 in the process of step S103, and proceeds to the process of step S104. The position of the obstacle 201 detected by the obstacle detection unit 20 is, specifically, a three-dimensional relative position of the obstacle 201 with respect to the obstacle detection unit 20.

  The control unit 50 calculates the relative positional relationship between the eyeball E of the driver D, the obstacle 201, and the display surface 100 in the process of step S104, and proceeds to the process of step S105. Here, these relative positional relationships are calculated as follows. First, the control unit 50 reads a relative positional relationship between the display surface 100, the obstacle detection unit 20, and the eyeball detection unit 30 stored in the positional relationship storage unit 40 in advance. Next, the control unit 50 determines the three-dimensional relative position of the obstacle 201 with respect to the obstacle detection unit 20 acquired in the process of step S103, and the display surface 100 and the obstacle detection unit 20 read from the positional relationship storage unit 40. The three-dimensional relative position of the obstacle 201 and the display surface 100 with respect to the eyeball detecting unit 30 is calculated from the relative positional relationship with the eyeball detecting unit 30. Then, the control unit 50 determines the three-dimensional relative position of the eyeball E with respect to the eyeball detection unit 30 acquired in the process of step S102, and the calculated three-dimensional relative position of the obstacle 201 and the display surface 100 with respect to the eyeball detection unit 30 calculated above. Then, the relative positional relationship between the eyeball E, the obstacle 201, and the display surface 100 is calculated.

  The control unit 50 determines whether the driving support information 101 displayed on the display surface 100 is superimposed on the straight line connecting the position of the eyeball E and the position of the obstacle 201 calculated in the process of step S104 in the process of step S105. Determine whether or not. When the control unit 50 determines to superimpose (Yes in Step S105), the process proceeds to Step S106. On the other hand, when the control unit 50 determines not to superimpose (No in step S105), the process ends without changing the display position of the driving support information 101. For example, when the positional relationship is as shown in FIG. 5A, the control unit 50 determines that the driving support information 101 is superimposed on a straight line connecting the position of the eyeball E and the position of the obstacle 201.

  The control unit 50 determines whether or not the speed of the vehicle V is equal to or higher than a predetermined value in the process of step S106. When determining that the speed of the vehicle V is equal to or higher than the predetermined value (Yes in step S106), the control unit 50 proceeds to the process in step S107. On the other hand, when the control unit 50 determines that the speed of the vehicle V is lower than the predetermined value (No in step S106), there is time to reach the obstacle and the urgency of moving the display is relatively low. Since it is conceivable, the process ends without changing the display position of the driving support information 101. Here, the speed of the vehicle V is obtained from, for example, an ECU (engine control unit) or the like.

  In the process of step S107, the control unit 50 determines whether or not the display position of the driving support information 101 can be changed to a position on the display surface 100 that does not overlap the straight line. Specifically, the control unit 50 drives the vehicle to a position on the display surface 100 other than on a straight line connecting the position of the eyeball E and the position of the obstacle 201 and other driving support information 101 is not displayed. It is determined whether the support information 101 can be moved and displayed. When determining that the change is possible (Yes in step S107), the control unit 50 proceeds to the process in step S108. On the other hand, when determining that the change is not possible (No in step S107), the control unit 50 proceeds to the process in step S110.

  In the process of step S108, the control unit 50 determines whether another obstacle 201 detected by the obstacle detection unit 20 overlaps a straight line connecting the display position of the changed driving support information 101 and the position of the eyeball E. Determine whether or not. If the control unit 50 determines that they overlap (Yes in step S108), the process proceeds to step S110. On the other hand, when the control unit 50 determines not to overlap (No in step S108), the process proceeds to step S109.

  In the process of step S109, the control unit 50 changes the display position of the driving support information 101 to the position determined to be changeable in step S107, that is, moves and displays the display, and ends the process. For example, as shown in FIG. 5B, a position on the display surface 100 other than on a straight line connecting the position of the eyeball E and the position of the obstacle 201 and on which other driving support information 101 is not displayed. Moves and displays the driving support information 101.

  On the other hand, in the process of step S110, the control unit 50 displays the driving support information 101 by increasing the transmittance of the display of the driving support information 101 on the display surface 100, and ends the process. The display in which the transmittance of the display of the driving support information 101 is increased is, for example, a display in which the density of the display color of the driving support information 101 is reduced. Here, raising the display of the driving support information 101 to display it includes transmitting the driving support information 101 completely, that is, hiding the driving support information 101.

  As described above, the driving support information display device 1 displays the driving support information 101 based on the position of the eyeball E detected by the eyeball detection unit 30 and the position of the obstacle 201 detected by the obstacle detection unit 20. The position is changed to a position that does not overlap on a straight line connecting the position of the eyeball E and the position of the obstacle 201. Therefore, the obstacle 201 to be watched does not overlap with the driving support information 101, so that the visibility of the obstacle 201 can be improved.

  When the speed of the vehicle V is equal to or higher than a predetermined value, the driving support information display device 1 changes the display position of the driving support information 101. Therefore, the visibility of the obstacle 201 can be improved at the time of driving in which the obstacle 201 should be watched particularly.

  Further, even when the display position of the driving support information 101 is changed, the driving support information display device 1 detects the obstacle detection unit 20 on a straight line connecting the display position of the changed driving support information 101 and the position of the eyeball E. When other obstacles 201 to be superimposed are superimposed, the driving support information 101 is displayed by increasing the transmittance of the display of the driving support information 101 on the display surface 100 without changing the display position of the driving support information 101. Display. Therefore, even when the obstacle 201 overlaps the driving support information 101, the visibility of the obstacle 201 can be improved.

(Second embodiment)
As shown in FIG. 6, the driving support information display device 2 according to the second embodiment is a head-up display device, and includes a display surface generation unit 10, an obstacle detection unit 20, an eyeball detection unit 30, and a running An information acquisition unit 60, a positional relationship storage unit 40, and a control unit 50 are provided. In the driving support information display device 2 according to the present embodiment, the configuration other than the driving information acquisition unit 60 is the same as that of the driving support information display device 1 according to the first embodiment, and a description thereof will be omitted.

  The traveling information acquisition unit 60 is a device that acquires traveling information of the vehicle V. The traveling information of the vehicle V includes, for example, information on the traveling direction of the vehicle V, information on the steering angle, information on speed (information on speed, acceleration, and time change thereof), information on route guidance followed by the vehicle V, and the like. is there.

  Hereinafter, the processing executed by the control unit 50 of the driving support information display device 2 will be described with reference to the flowchart of FIG.

  The processing of steps S201 to S204 is the same as the processing of steps S101 to S104 of the first embodiment, and a description thereof will be omitted.

  The control unit 50 estimates the locus of the position of the obstacle 201 until a predetermined time has elapsed in the process of step S205, and proceeds to the process of step S206. Here, the locus of the position of the obstacle 201 up to a predetermined time later is, for example, a time change of the position of the obstacle 201 detected by the obstacle detection unit 20 or the travel information acquired by the travel information acquisition unit 60. Can be guessed based on the above.

  In the process of step S206, the control unit 50 sets, on a straight line connecting the position of the eyeball E calculated in the process of step S204 and the trajectory of the position of the obstacle 201 until after a predetermined time calculated in the process of step S205, It is determined whether the driving support information 101 displayed on the display surface 100 is superimposed. If the control unit 50 determines to superimpose (Yes in step S206), the process proceeds to step S207. On the other hand, if the control unit 50 determines that superimposition is not performed (No in step S206), the process ends without changing the display position of the driving support information 101.

  The control unit 50 determines whether or not the speed of the vehicle V is equal to or higher than a predetermined value in the process of step S207. When determining that the difference is equal to or more than the predetermined value (Yes in step S207), the control unit 50 proceeds to the process in step S208. On the other hand, when determining that the value is less than the predetermined value (No in step S207), the control unit 50 ends the process without changing the display position of the driving support information 101. Here, the speed of the vehicle V is acquired from, for example, an ECU (engine control unit), the traveling information acquisition unit 60, and the like.

  In the process of step S208, the control unit 50 determines whether the display position of the driving support information 101 can be changed to a position on the display surface 100 that does not overlap the straight line. Specifically, the control unit 50 performs a display that is not on a straight line connecting the position of the eyeball E and the trajectory of the position of the obstacle 201 until a predetermined time later, and that the other driving support information 101 is not displayed. It is determined whether the driving support information 101 can be moved and displayed at a position on the surface 100. When determining that the change is possible (Yes in step S208), the control unit 50 proceeds to the process in step S209. On the other hand, when determining that the change is not possible (No in step S208), the control unit 50 proceeds to the process in step S211.

  The processing from step S209 to S211 is the same as the processing from step S108 to step S110 in the first embodiment, respectively, and thus the description is omitted.

  As described above, the driving support information display device 2 according to the present embodiment estimates the trajectory of the position of the obstacle 201 until after the elapse of the predetermined time, and determines the trajectory of the estimated position of the obstacle 201 and the position of the eyeball E. The display position of the driving support information 101 is changed to a position that does not overlap on the straight line connecting. Therefore, the possibility that the obstacle 201 and the driving support information 101 will overlap in the future can be reduced, and the visibility of the obstacle 201 can be further improved.

  Although the present invention has been described with reference to the drawings and embodiments, it should be noted that those skilled in the art can easily make various changes and modifications based on the present disclosure. Therefore, it should be noted that these variations and modifications are included in the scope of the present invention. For example, functions included in each component, each step, and the like can be rearranged so as not to be logically inconsistent, and a plurality of components, steps, and the like can be combined into one or divided. It is.

  In addition, the driving support information display devices 1 and 2 according to each embodiment have been described by exemplifying the case of a head-up display device, but a device that allows a driver to visually recognize a display surface superimposed on a background. It is not limited to a head-up display device as long as it is possible.

1, 2 driving support information display device 10 display surface generation unit 11 liquid crystal display unit 12 projection optical system 20 obstacle detection unit 30 eyeball detection unit 40 positional relationship storage unit 50 control unit 60 driving information acquisition unit 100 display surface 101 driving support information 200 Background 201 Obstacle D Driver E Eyeball V Vehicle X Display light Y Translucent plate

Claims (7)

A display surface generation unit that generates a display surface;
A control unit that displays driving support information on the display surface by the display surface generation unit,
An obstacle detection unit that detects the position of an obstacle outside the vehicle,
An eyeball detector that detects the position of the driver's eyeball,
With
The control unit displays a display position of the driving assistance information,
In a position which does not overlap on a straight line connecting the position of said obstacle based rather the eye and the position of the obstacle detected by the position and the obstacle detecting unit of the eye detected by the eye detection unit And estimating a locus of the position of the obstacle until after a predetermined time has elapsed, and changing the position to a position that does not overlap with the estimated locus of the position of the obstacle .
Driving support information display device. The control unit estimates a locus of the position of the obstacle until after the predetermined time based on a time change of the position of the obstacle detected by the obstacle detection unit,
The driving support information display device according to claim 1 . The vehicle further includes a traveling information acquisition unit that acquires traveling information of the vehicle,
The control unit estimates a trajectory of the position of the obstacle until after the predetermined time based on the traveling information,
Driving support information display device according to claim 1 or 2. The display surface, the obstacle detection unit, and a positional relationship storage unit that stores a relative positional relationship between the eyeball detection unit,
The obstacle detection unit detects a relative position of the obstacle with respect to the obstacle detection unit,
The eyeball detection unit detects a relative position of the eyeball with respect to the eyeball detection unit,
The control unit changes the display position of the driving support information based on the relative position of the obstacle, the relative position of the eyeball, and the content stored in the positional relationship storage unit.
The driving support information display device according to any one of claims 1 to 3 . When the speed of the vehicle is equal to or higher than a predetermined value, the control unit changes a display position of the driving support information.
The driving support information display device according to any one of claims 1 to 4 . The control unit is configured to control the driving on the display surface when another obstacle detected by the obstacle detection unit is superimposed on a straight line connecting the display position of the changed driving assistance information and the position of the eyeball. Raise the transmittance of the display of the support information to display the driving support information,
The driving support information display device according to any one of claims 1 to 5 . A display surface generation unit that generates a display surface;
A control unit that displays driving support information on the display surface by the display surface generation unit,
An obstacle detection unit that detects the position of an obstacle outside the vehicle,
An eyeball detector that detects the position of the driver's eyeball,
With
The control unit includes:
Based on the position of the eyeball detected by the eyeball detection unit and the position of the obstacle detected by the obstacle detection unit, the display position of the driving support information, the position of the eyeball and the position of the obstacle Change to a position that does not overlap on the connecting straight line,
When another obstacle detected by the obstacle detection unit is superimposed on a straight line connecting the changed display position of the driving assistance information and the position of the eyeball, the display of the driving assistance information on the display surface is A driving assistance information display device that displays the driving assistance information by increasing the transmittance.

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