GB2584609A - Controller for a vehicle - Google Patents

Controller for a vehicle Download PDF

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Publication number
GB2584609A
GB2584609A GB1906265.2A GB201906265A GB2584609A GB 2584609 A GB2584609 A GB 2584609A GB 201906265 A GB201906265 A GB 201906265A GB 2584609 A GB2584609 A GB 2584609A
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GB
United Kingdom
Prior art keywords
vehicle
display mode
driver
display
driver assistance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
GB1906265.2A
Other versions
GB201906265D0 (en
GB2584609B (en
Inventor
Singh Harpreet
Hare Chrisminder
Shabani Arber
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jaguar Land Rover Ltd
Original Assignee
Jaguar Land Rover Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jaguar Land Rover Ltd filed Critical Jaguar Land Rover Ltd
Priority to GB1906265.2A priority Critical patent/GB2584609B/en
Publication of GB201906265D0 publication Critical patent/GB201906265D0/en
Publication of GB2584609A publication Critical patent/GB2584609A/en
Application granted granted Critical
Publication of GB2584609B publication Critical patent/GB2584609B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/23—Head-up displays [HUD]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/29—Instruments characterised by the way in which information is handled, e.g. showing information on plural displays or prioritising information according to driving conditions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3632—Guidance using simplified or iconic instructions, e.g. using arrows
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/365—Guidance using head up displays or projectors, e.g. virtual vehicles or arrows projected on the windscreen or on the road itself
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3688—Systems comprising multiple parts or multiple output devices (not client-server), e.g. detachable faceplates, key fobs or multiple output screens
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/177—Augmented reality
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/179—Distances to obstacles or vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/18—Information management
    • B60K2360/186—Displaying information according to relevancy
    • B60K2360/1868—Displaying information according to relevancy according to driving situations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Instrument Panels (AREA)
  • Traffic Control Systems (AREA)

Abstract

A controller 12 and method of use for a driver assistance system of a vehicle 10. The controller receives sensor output data from at least one vehicle sensor 22, the sensor output data including data indicative of a headway distance 14 between the vehicle and a lead vehicle 16. The controller determines a display mode in dependence on the received sensor output data, the display mode defining how driver assistance data from the driver assistance system is displayed to the vehicle driver. The controller determines that the display mode is to change from a first display mode to a second display mode when the headway distance falls below a threshold distance, the first display mode including displaying a first image indicative of the driver assistance data at a first apparent distance 34 ahead of the vehicle. The controller sends a control signal to display means 18 of the vehicle to display the driver assistance data in dependence on the determined display mode.

Description

CONTROLLER FOR A VEHICLE
TECHNICAL FIELD
The present disclosure relates to a controller for a vehicle and in particular, but not exclusively, a controller for a driver assistance system of a vehicle. Aspects of the invention relate to a controller, to a vehicle, to a method and to a non-transitory, computer-readable memory device.
BACKGROUND
Modern road vehicles provide an increasing number of systems to aid drivers in controlling a vehicle. In particular, such driver assistance systems may provide data to a driver, for example by means of a display, which includes information on how the driver is to control the vehicle based on one or more measurements taken by the system.
Furthermore, it is beneficial for such information to be displayed to a driver in such a way that the driver does not need to avert their gaze from the road ahead of the vehicle so that they are not unduly distracted from controlling the vehicle.
One such driver assistance system is a virtual vehicle system, also referred to as ghost car navigation system or a follow-me system. In such a virtual vehicle system, a so-called virtual vehicle or ghost car is projected or displayed on the road ahead of the (host) vehicle in three dimensions (3D), in particular in augmented reality (AR). Specifically, a head-up display (HUD) of the vehicle is used to display an AR image of the virtual vehicle at an apparent distance ahead of the host vehicle.
The path followed by the virtual vehicle indicates to the driver of the host vehicle the path that is to be followed by the host vehicle, and the virtual vehicle also provides additional information indicative of upcoming actions to be taken by the driver. For example, a left indicator flashing on the virtual vehicle indicates to the driver that a left turn is approaching. As another example, when a virtual vehicle merges into an adjacent lane then this indicates to the driver that the host vehicle should be controlled to merge in a similar manner when it is appropriate to do so.
One issue arises with the above virtual vehicle system when a real vehicle (lead vehicle) is within a certain distance on the road ahead of the host vehicle. It has been shown that placing 3D or AD objects on the vehicle HUD when the lead vehicle is less than a particular distance ahead of the host vehicle, then this can significantly increase the probability of the driver being distracted or of motion sickness being induced in the driver.
This may be because the driver has two objects, namely AR information and the lead vehicle, at different focal lengths relatively close to the driver.
Similar issues arise for other driver assistance systems which display 3D or AR objects ahead of a host vehicle, such as satellite navigation systems which display 3D arrows ahead of the host vehicle to indicate a direction in which the driver is to control the host vehicle.
It is an aim of the present invention to address one or more of the disadvantages associated with known systems.
SUMMARY OF THE INVENTION
According to an aspect of the present invention there is provided a controller for a driver assistance system of a vehicle. The controller comprises an input configured to receive sensor output data from at least one vehicle sensor. The sensor output data may include data indicative of a headway distance between the vehicle and a lead vehicle.
The controller comprises a processor configured to determine a display mode in dependence on the received sensor output data. The display mode may define how driver assistance data from the driver assistance system is displayed to the vehicle driver.
The controller comprises an output configured to send a control signal to display means of the vehicle to display the driver assistance data in dependence on the determined display mode.
The processor may be configured to determine that the display mode changes from a first display mode to a second display mode when the headway distance falls below a threshold distance. The first display mode may comprise projecting or displaying a first image indicative of the driver assistance data at a first apparent distance ahead of the vehicle.
The lead vehicle may be regarded as being that which is directly in front of the vehicle in the direction of travel, for example in the same lane of traffic.
The driver assistance data may be regarded as data providing instructions or information to the driver to assist the driver in controlling the vehicle. For example, the driver assistance data my include information on how to positon the vehicle in the road, when to merge into a different lane, or when a left or right turn is approaching.
The driver assistance system may be, for example, a virtual vehicle system (e.g. ghost car system) in which the first image is an augmented reality object including a virtual vehicle on the road ahead of the (host) vehicle. Other driver assistance systems are also possible, such as satellite navigation systems in which, for example, three-dimensional arrows are shown at an apparent distance ahead of the vehicle so as to inform the driver of upcoming manoeuvres to be made.
It has been shown that placing or displaying driver assistance data in a line of sight of a vehicle driver at an apparent distance ahead of the (host) vehicle, when a lead vehicle is within a threshold distance of the (host) vehicle, can distract the driver, create visual discomfort, and/or induce motion sickness therein. This is because the driver has two different objects at different focal lengths to focus on. For example, in previous systems the headway distance is not sufficiently taken into account such that an image with driver assistance data may be displayed at an apparent distance in a manner that overlies or blocks a lead vehicle, thus restricting the driver's vision.
The present invention is advantageous in that the benefits of maintaining the presentation of driver assistance data to the driver in the form of a first image displayed at a first apparent distance ahead of the vehicle (e.g. an AR object) when the headway distance to the lead vehicle is greater than the threshold are maintained, but that when the headway distance falls below the threshold an alternative strategy for displaying the driver assistance data is provided so as to guard against the drawbacks mentioned above. When the headway distance is greater than the threshold distance there are greater possibilities to place the first image at a first apparent distance such that the first image does not distract the driver from the lead vehicle. The lower the headway distance, the more cluttered with objects the driver's line of vision may become. The alternative strategy may include, for example, displaying the driver assistance data in a manner that is not projected ahead of the host vehicle such as a 2D image, either using the same display unit or a separate display unit.
The first image may comprise an augmented reality object.
The augmented reality object may comprise a virtual vehicle including information on how the driver is to control the vehicle.
The processor may be configured to determine the first apparent distance in dependence on a speed of the vehicle.
The processor may be configured to determine the first apparent distance in dependence on the headway distance.
The first apparent distance may be less than the headway distance.
The second display mode may comprise displaying a second image indicative of the driver assistance data.
The second image may be a two-dimensional image.
The second image may include information on how the driver is to control the vehicle in the form of one or more of: an arrow; a tether; a map view of an area in the vicinity of the vehicle; and, a glow image.
The second display mode may comprise inhibiting the driver assistance data from being displayed to the driver.
The display means may comprise a head-up display. The control signal may control the head-up display to display the first image.
The control signal may control the head-up display to display the driver assistance data in the second display mode.
The display means may comprise a second display means different from the head-up display. The control signal may control the second display means to display the driver assistance data in the second display mode.
The second display means may be an instrument display panel of the vehicle.
The threshold distance may be a predetermined threshold distance.
The predetermined threshold distance may be in the interval 15-25 metres. Optionally, the predetermined threshold distance may be in the interval 18-22 metres. Optionally, the predetermined threshold distance is approximately 20 metres. The predetermined threshold distance may be empirically measured.
The input may be configured to receive driver data indicative of a driving style of the driver. The processor may be configured to determine the threshold distance in dependence on the driver data.
The driving style may comprise an average headway distance the driver maintains while following other vehicles.
The threshold distance may be selectable by the driver.
The processor may be configured to determine that the display mode changes from the second display mode to the first display mode when the headway distance rises above a second threshold distance greater than the threshold distance. This guards against frequent switching between the first and second display modes, which in itself may be distracting for the driver.
The second threshold distance may be at least two metres greater than the threshold distance. Optionally, the second threshold distance may be 3-5 metres greater than the threshold distance. Optionally, the second threshold distance may be less than 10 metres greater than the (first) threshold distance. The second threshold distance may be measured empirically.
The at least one sensor may include one or more of: a vision sensor; a radar sensor; and, a LIDAR sensor.
According to another aspect of the present invention there is provided a vehicle comprising a controller as described above.
According to another aspect of the present invention there is provided a method for a driver assistance system of a vehicle. The method comprises receiving sensor output data from at least one vehicle sensor, the sensor output data including data indicative of a headway distance between the vehicle and a lead vehicle. The method includes determining a display mode in dependence on the received sensor output data. The display mode may define how driver assistance data from the driver assistance system is displayed to the vehicle driver. The display mode may be determined to change from a first display mode to a second display mode when the headway distance falls below a threshold distance. The method comprises sending a control signal to display means of the vehicle to display the driver assistance data in dependence on the determined display mode. The first display mode may comprise projecting a first image indicative of the driver assistance data ahead of the vehicle.
According to another aspect of the present invention there is provided a non-transitory, computer readable storage medium storing instructions thereon that when executed by one or more processors causes the one or more processors to perform the method described above.
Within the scope of this application it is expressly intended that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and/or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. That is, all embodiments and/or features of any embodiment can be combined in any way and/or combination, unless such features are incompatible. The applicant reserves the right to change any originally filed claim or file any new claim accordingly, including the right to amend any originally filed claim to depend from and/or incorporate any feature of any other claim although not originally claimed in that manner.
BRIEF DESCRIPTION OF THE DRAWINGS
One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which: Figure 1 is a schematic plan view of a vehicle including a controller according to an embodiment of an aspect of the invention, the vehicle having display means displaying driver assistance data in the form of an augmented reality object ahead of the vehicle, and Figure 1 also showing a lead vehicle ahead of the vehicle; Figure 2 shows the steps of a method undertaken by the controller of Figure 1 in accordance with an embodiment of an aspect of the invention; and, Figure 3 shows examples of how the display means of Figure 1 may display the driver assistance data in an alternative way to the augmented reality object.
DETAILED DESCRIPTION
Figure 1 shows a host vehicle 10, simply referred to as the vehicle 10, including a controller 12 according to an embodiment of an aspect of the invention. The controller 12 is part of, or for controlling, a driver assistance system of the vehicle 10. In the described embodiment, the driver assistance system is a virtual vehicle system as will be described below. The controller 12 is for controlling how the driver assistance system displays driver assistance data to the driver based on the headway distance 14 between the vehicle 10 and a lead vehicle 16 ahead of the vehicle 10.
The vehicle 10 includes display means 18 configured to display the driver assistance data to the vehicle driver. In particular, the display means 18 includes a head-up display (HUD) for displaying the driver assistance data to the driver without the driver needing to avert their gaze from the road 20 ahead of the vehicle 10. The HUD may display the driver assistance data to the driver in the form of one or more three-dimensional (3D) objects, in particular augmented reality (AR) objects, or as a two-dimensional (2D) image, as will be discussed further below.
The vehicle 10 includes a number of sensors 22 configured to collect sensor output data indicative of the headway distance 14. The sensors 22 include one or more of vision sensors, e.g. one or more cameras, radar sensors, and LIDAR sensors, or indeed any other suitable type of sensor.
The controller 12 includes an input 24 configured to receive the sensor output data from the sensors 22, one or more processors 26 configured to determine how the driver assistance data is to be displayed to the driver, and an output 28 configured to send a control signal to the display means 18 to display the driver assistance data in dependence on the determination of the processor 26. The vehicle 10 further includes a memory device 30, such as a non-transitory, computer readable storage medium. The memory device 30 stores instructions to be executed by the processor 26 to cause the processor 26 to determine how the driver assistance data is to be displayed.
In the described embodiment, the driver assistance system is a virtual vehicle system, also referred to as a ghost car navigation system or a follow-me system. In such a virtual vehicle system the HUD 18 is commanded to display an image of a virtual vehicle 32 at an apparent distance ahead of the vehicle 10. In particular, the virtual vehicle 32 is in the form of an AR object. The virtual vehicle display includes driver assistance data to assist the driver in controlling the vehicle 10. In particular, the virtual vehicle AR object 32 moves along and relative to the road 20 according to the view of the driver so as to define a path for the driver to control the vehicle 10 to follow. That is, the driver controls the vehicle 10 to follow the path indicated by the virtual vehicle 32 on the HUD 18. In this way, the virtual vehicle system is a navigation system for the vehicle 10.
The display of the virtual vehicle 32 also provides information in addition to the path to follow along the road 20, in particular information indicative of upcoming actions to be taken by the driver. For example, a left indicator flashing on the virtual vehicle indicates to the driver that a left turn to be taken is approaching. As another example, when the virtual vehicle 32 merges into an adjacent lane of the road 32 then this indicates to the driver that the vehicle 10 should be controlled to merge in a similar manner when it is appropriate to do so.
The HUD 18 is controlled to display the virtual vehicle AR object 32 at an apparent distance 34 on the road 20 ahead of the vehicle 10. The apparent distance 34 may vary based on the speed at which the vehicle 10 is travelling. For example, the faster the vehicle 10 is travelling, the greater the apparent distance 34 may be, i.e. the virtual vehicle 32 is displayed such that it appears to be further down the road 20 from the vehicle 10. This allows a reaction time for the driver to respond to the driver assistance information being provided by the virtual vehicle 32 to be maintained (or increased) based on the vehicle speed.
The apparent distance 34 at which the virtual vehicle 32 is displayed may also vary based on the headway distance 14, i.e. the distance between the vehicle 10 and the lead vehicle 16. For example, the greater the headway distance 14, the greater the apparent distance may be. Again, this allows a reaction time for the driver to respond to the driver assistance information being provided by the virtual vehicle 32 to be increased or maximised, but without the lead vehicle 16 obscuring, or distracting from, the driver assistance information being displayed. Indeed, if there is no lead vehicle 16, i.e. there is no vehicle ahead of the host vehicle 10, then the virtual vehicle 32 may be displayed as far ahead of the host vehicle 10 as is desired or is optimal, and may be displayed based on the speed of the vehicle 10 only. For example, when there is no lead vehicle present, the apparent distance may be approximately 70 metres. In general, the virtual vehicle 32 will be displayed closer to the host vehicle 10 than the lead vehicle 16 is positioned relative to the host vehicle 10, i.e. the apparent distance 34 is less than the headway distance.
Therefore, the closer the lead vehicle 16 is to the host vehicle 10, the closer the virtual vehicle 32 needs to be displayed relative to the host vehicle 10. When the headway distance 14 decreases to a certain threshold distance, this can raise an issue of how to display the driver assistance data indicated by the virtual vehicle 32 to the driver. In particular, when the lead vehicle 16 becomes too close to the host vehicle 10, the virtual vehicle 32 needs to be displayed increasingly close to the lead vehicle 10 and, indeed, increasingly close to the host vehicle 10. This can cause visual discomfort and/or induce motion sickness for the driver. The operation of the controller 12 addresses this issue by controlling the display means 18 to display the driver assistance data in one of two display modes, namely a first display mode or a second display mode, based on the headway distance 14, as is described below.
Figure 2 shows the steps of a method 40 undertaken by the controller 12. At step 42 the input 24 receives sensor output data from the at least one sensor 22, the sensor output data being indicative of the current headway distance 14. At step 44, the processor 26 checks in which display mode the display means 18 is currently displaying the driver assistance data of the virtual vehicle system to the driver, i.e. the first display mode or the second display mode.
The first display mode displays the driver assistance data to the driver in the manner described above. In particular, the HUD 18 is controller to display a first, 3D image indicative of the driver assistance data at the apparent distance 34, also referred to as the first apparent distance 34, ahead of the vehicle 10. In the described embodiment, the first image includes an AR object in the form of the virtual vehicle 32 that includes information on how the driver is to control the vehicle 10.
If the current display mode of the display means 18 is the first display mode, then at step 46 of the method 40 the processor 26 determines whether the measured headway distance 34 is greater or less than a threshold distance, also referred to as the first threshold distance. This threshold distance corresponds to the headway distance 34 at which it is no longer suitable to display the virtual vehicle AR object 32 to the driver, i.e. the headway distance 34 at which the AR object 32 may distract the driver or induce motion sickness. In the described embodiment, the threshold distance is a prescribed threshold distance, for example approximately 20 metres.
If the headway distance 34 is greater than the threshold distance then at step 48 no action is needed and the display means 18 continues to display the driver assistance data in the first display mode.
If, however, the headway distance 34 is less than the threshold distance, i.e. has fallen below the threshold distance, then the processor 26 determines at step 46 the display mode should be switched to a second display mode from the first display mode.
In the described embodiment, in the second display mode the HUD 18 displays a second, 2D image indicative of the driver assistance data to the driver (instead of the AR object 32 of the first display mode). The 2D image may be displayed at a second apparent distance or depth from the driver. That is, the focal point of the 2D image may be at the second apparent distance, for example approximately 10 metres ahead of the driver.
Figures 3a-d illustrates some examples of the form that the 2D image in the second display mode may take so as to display the driver assistance data to the driver. In particular, Figures 3a-d show examples of 2D images that may be displayed to the driver to indicate that the driver should merge into the right-hand lane at an appropriate opportunity. Specifically, Figure 3a illustrates this by means of an arrow indicating the path to be followed by the vehicle. Figure 3b illustrates the driver assistance data by means of a circle (representing the vehicle 10) from which a tether extends to indicate a general direction to be followed by the vehicle 10. Figure 3c illustrates the driver assistance data by means of a 3D map view (in 2D) showing the vehicle 10 and surrounding roads. Figure 3d illustrates the driver assistance data by means of a glow image; in particular, in this case a right-hand side of the image is shown as a glow so as to indicate a right merge is to be performed.
At step 50, therefore, the output 28 of the controller 12 is configured to send a control signal to the display means 18 to change to the second control mode from the first control mode so as to display the driver assistance data on the HUD 18 via a 2D image.
Returning to step 44 of the method 40, if the current display mode is the second display mode then the process proceeds to step 52 where the processor 26 determines whether the headway distance 34 is greater or less than a second threshold distance. This second threshold distance corresponds to the headway distance 34 at which it is no longer necessary to display the driver assistance data in an alternative way or strategy to the AR object, and so the point at which the driver assistance data may again be displayed in the form of the virtual vehicle 32. In the described embodiment, the second threshold distance is a prescribed threshold distance, for example a value in the interval 23 to 25 metres.
In the described embodiment, the second threshold distance is greater than the first threshold distance. That is, the headway distance at which the display mode changes from the first to the second display mode is less than the headway distance at which the display mode reverts to the first from the second display mode. This hysteresis ensures that the display means 18 does not flicker between displaying the driver assistance data in the first and second display modes when the lead vehicle 16 maintains a headway distance 34 in the region of the threshold distance. Such flickering of presentation of information may be distracting for the driver. In a different embodiment, it may be the first threshold distance that is greater than the second threshold distance to achieve the hysteresis effect.
If the headway distance 34 is less than the second threshold distance then at step 54 no action is needed and the display means 18 continues to display the driver assistance data in the second display mode.
If, however, the headway distance 34 is greater than the second threshold distance, i.e. has risen above the second threshold distance, then the processor 26 determines at step 52 the display mode should be switched to the first display mode from the second display mode. At step 56, therefore, the output 28 of the controller 12 is configured to send a control signal to the display means 18 to change to the first control mode from the second control mode so as to display the driver assistance data on the HUD 18 via an AR object, in particular the virtual vehicle 32.
It will be appreciated that various changes and modifications can be made to the present invention without departing from the scope of the present application.
In the above-described embodiment, the driver assistance data is displayed to the driver on the head-up display in both the first display mode (AR object) and the second display mode (2D display). In different embodiments, however, the driver assistance data in the second display mode may be displayed to the driver by different vehicle display means, for example on an instrument display panel of the vehicle. That is, in these different embodiments the display means comprises both the HUD and the instrument display panel. In further different embodiments, in the second display mode the controller may be configured to inhibit the driver assistance data from being displayed to the driver so as not to distract the driver.
In the above-described embodiment, the first and second threshold distances are predetermined threshold distances; however, in different embodiments, this need not be the case. For example, one or both of these threshold distances may be driver-selectable depending at what headway distance that particular driver starts to become distracted by AR objects close to the lead vehicle. As another example, one or more of these threshold values may be learned over time for a particular driver. For instance, data particular to a certain driver may be measured so as to analyse the driver's driving style. This may include, for example, an average headway distance that the driver maintains in certain scenarios, such as on a motorway or in certain weather conditions. The first and/or second threshold distances may then be set based on this collected driver data.
In the above described embodiment, the display means is configured to switch between two different display modes based on the headway distance; however, in different embodiments, the controller may control the display means to switch between more than two display modes. For example, the driver assistance data may be displayed as an AR object in the HUD in a first display mode, as a 2D image in the HUD in a second display mode having a smaller headway distance than the first display mode, and as an icon or other infographic in further display means such as a vehicle instrument display panel in a third display mode having a headway distance less than the second display mode.

Claims (17)

  1. CLAIMS1. A controller for a driver assistance system of a vehicle, the controller comprising: an input configured to receive sensor output data from at least one vehicle sensor, the sensor output data including data indicative of a headway distance between the vehicle and a lead vehicle; a processor configured to determine a display mode in dependence on the received sensor output data, the display mode defining how driver assistance data from the driver assistance system is displayed to the vehicle driver; and, an output configured to send a control signal to display means of the vehicle to display the driver assistance data in dependence on the determined display mode, wherein the processor is configured to determine that the display mode changes from a first display mode to a second display mode when the headway distance falls below a threshold distance, and wherein the first display mode comprises displaying a first image indicative of the driver assistance data at a first apparent distance ahead of the vehicle.
  2. 2. A controller according to Claim 1, wherein the first image comprises a virtual vehicle including information on how the driver is to control the vehicle.
  3. 3. A controller according to any previous claim, wherein the processor is configured to determine the first apparent distance in dependence on one or more of: a speed of the vehicle; and the headway distance.
  4. 4. A controller according to Claim 3, wherein the first apparent distance is less than the headway distance.
  5. 5. A controller according to any previous claim, wherein the second display mode comprises displaying a second image indicative of the driver assistance data.
  6. 6. A controller according to Claim 6, wherein the second image is a two-dimensional image including information on how the driver is to control the vehicle in the form of one or more of: an arrow; a tether; a map view of an area in the vicinity of the vehicle; and, a glow image.
  7. 7. A controller according to any preceding Claim, wherein the second display mode comprises inhibiting the driver assistance data from being displayed to the driver.
  8. 8. A controller according to any previous claim, wherein the display means comprises a head-up display, and wherein the control signal controls the head-up display to display the first image.
  9. 9. A controller according to Claim 8, wherein the control signal controls the head-up display to display the driver assistance data in the second display mode.
  10. 10. A controller according to Claim 8 or Claim 9, wherein the display means comprises a second display means different from the head-up display, and wherein the control signal controls the second display means to display the driver assistance data in the second display mode.
  11. 11. A controller according to any preceding claim, wherein the input is configured to receive driver data indicative of a driving style of the driver, and wherein the processor is configured to determine the threshold distance in dependence on the driver data.
  12. 12 A controller according to any preceding claim, wherein the threshold distance is selectable by the driver of the vehicle.
  13. 13. A controller according to any previous claim, wherein the processor is configured to determine that the display mode changes from the second display mode to the first display mode when the headway distance rises above a second threshold distance greater than the threshold distance.
  14. 14. A controller according to any previous claim, wherein the at least one sensor includes one or more of: a vision sensor; a radar sensor; and, a LIDAR sensor.
  15. 15. A vehicle comprising a controller according to any previous claim.
  16. 16. A method for a driver assistance system of a vehicle, the method comprising: receiving sensor output data from at least one vehicle sensor, the sensor output data including data indicative of a headway distance between the vehicle and a lead vehicle; determining a display mode in dependence on the received sensor output data, the display mode defining how driver assistance data from the driver assistance system is displayed to the vehicle driver, the display mode being determined to change from a first display mode to a second display mode when the headway distance falls below a threshold distance; sending a control signal to display means of the vehicle to display the driver assistance data in dependence on the determined display mode, wherein the first display mode comprises displaying a first image indicative of the driver assistance data at a first apparent distance ahead of the vehicle.
  17. 17. A non-transitory, computer readable storage medium storing instructions thereon that when executed by one or more processors causes the one or more processors to perform the method of Claim 16.
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