JP2005067514A - Vehicular display device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicular display device capable of allowing a driver to easily understand the circumstance before a present vehicle and the control state of the present vehicle and to run the vehicle at ease without impairing the front target visual recognition of the driver to the utmost. <P>SOLUTION: The vehicular display device to perform the display through a windshield of a present vehicle comprises forward condition detection means 101, 102, 103 and 200 to detect the forward condition of the present vehicle, present vehicle detection means 103, 104, 105 and 200 to detect the control condition of the vehicle, and a display visual recognition position determination means 200 to determine the visual recognition position of a displayed image to be displayed according to the forward condition of the vehicle detected by the forward condition detection means, changes the display mode of the displayed image according to the control condition of the subject vehicle detected by the present vehicle detection means, and allows the displayed image to be displayed only for a predetermined time at the visual recognition position determined by the display visual recognition position determination means. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a vehicular display device that performs display through a windshield of a host vehicle such as a head-up display (HUD).

  Conventionally, as this type of vehicle display device, for example, there is a device that can travel following a preceding vehicle existing at a predetermined distance ahead of the host vehicle, that is, a so-called auto cruise control.

  Conventionally, in this auto-cruise control, a mark indicating the position of the preceding vehicle that is the target ahead of the host vehicle during follow-up driving is projected onto the corresponding position on the windshield on the front view using the head-up display. There has been proposed an apparatus that displays a target preceding vehicle so as to be easily visible.

  However, since the matching between the actual scenery seen from the windshield and the virtual image seen through the windshield is not successful, conventionally, the observer (driver) sometimes sees the virtual image twice. For this reason, there is a problem that the observer feels uncomfortable.

  For example, in order to prevent such an uncomfortable display for an observer, a vehicle display device that projects and displays at least two display images on a windshield in a horizontal direction with respect to the host vehicle has been proposed ( For example, see Patent Document 1).

According to such a vehicular display device, two virtual images are projected on the windshield from the beginning, so that even if the driver views the display while viewing the preceding vehicle, it is caused by binocular parallax. It is said that it can reduce the sense of incongruity and can travel with peace of mind.
JP 2000-57491 A

  However, the vehicle display device proposed in the above-mentioned Patent Document 1 always displays a plurality of display images on the windshield during follow-up driving. There is a problem that the image is deprived of consciousness and prevents foreground situational cognitive behavior.

  In addition, the display form is the same regardless of the state of the host vehicle or the preceding vehicle, so even if the driver can visually recognize the preceding vehicle, the driver cannot confirm how the host vehicle is controlled, so it is not always safe. There was a problem that it was not always possible to run.

  Therefore, in view of the above problems, the present invention allows the driver to easily understand the state ahead of the host vehicle and the control state of the host vehicle without disturbing the driver's forward visual recognition as much as possible, and can travel with peace of mind. An object is to provide a display device for a vehicle.

  In order to achieve the above object, according to the first aspect of the present invention, in the vehicular display device that performs display through the windshield (44) of the host vehicle (100), a front state that detects a state in front of the host vehicle (100). Detection means (101, 102, 103, 200), own vehicle detection means (103, 104, 105, 200) for detecting the control state of the own vehicle (100), forward state detection means (101, 102, 103, Display visual position determination means (200) for determining the visual recognition position of the display image (700) to be displayed according to the state in front of the own vehicle (100) detected by 200), and the own vehicle detection means (103, The display form of the display image (700) is changed according to the control state of the host vehicle (100) detected by 104, 105, 200), and the display visual position determining means (20 ) To the determined viewing position by, characterized in that so as to display the display image (700) by a predetermined time.

  According to this, the visual recognition position of the display image (700) to be displayed is determined according to the state ahead of the host vehicle (100) such as the position of the preceding vehicle, and the display image (700) is displayed at the visual recognition position for a certain period of time. Since the information is displayed, the driver (K) can easily understand the state ahead of the host vehicle (100) without being disturbed as much as possible.

  Further, since the display form of the display image (700) is changed according to the control state of the host vehicle (100) such as the vehicle speed and the brake assist state, the driver (K) can change the display of the host vehicle (100). The control state can be easily understood.

  Therefore, according to the present invention, the driver (K) can easily change the state in front of the host vehicle (100) and the control state of the host vehicle (100) without hindering the driver (K) from seeing forward as much as possible. It is possible to provide a display device for a vehicle that can be understood and can travel with peace of mind.

  According to a second aspect of the present invention, in the vehicular display device according to the first aspect, the display visual position determining means (200) is detected by the front state detecting means (101, 102, 103, 200). It is determined whether or not the host vehicle (100) can follow the preceding vehicle according to the position and relative speed of the preceding vehicle (900), and the preceding vehicle (900) determined to be capable of following is displayed on the display image ( 700) is determined as the visual recognition position.

  According to this, since the preceding vehicle (900) for which the host vehicle (100) is determined to be able to follow can be displayed on the preceding vehicle (900) as the following candidate vehicle, the driver (K) can easily perform the display. It becomes possible to determine whether or not the follow-up running can be performed.

  According to a third aspect of the present invention, in the vehicular display device according to the first or second aspect, a display image (700) is displayed at a visual recognition position determined by the display visual recognition position determining means (200) for a certain period of time. ) Is displayed, the viewing position of the display image (700) is changed to a portion closer to the periphery of the windshield (44) than the viewing position so far.

  According to this, even after the display image (700) is displayed for a certain period of time, the display image (700) does not disappear and is displayed at a position that does not hinder the driver (K) 's forward visual recognition as much as possible. Yes. Therefore, even after displaying the display image (700) for a certain period of time, the driver (K) can view the display image (700) when necessary, which is preferable.

  Furthermore, in the invention according to claim 4, in the vehicular display device according to claim 3, the display image (700) displayed at the visually recognized position after the change is a bird's eye view showing the state around the host vehicle (100). It is characterized by being displayed as.

  According to this, since the display image (700) displayed at the viewing position after the change is displayed as a bird's eye view, the driver (K) indicates the positional relationship between the host vehicle (100) and the preceding vehicle (900), and the like. It becomes easy to understand and is preferable.

  In the invention according to claim 5, in the vehicle display device according to claims 1 to 4, a display image that is displayed for a certain period of time at the viewing position determined by the display viewing position determining means (200). (700) is characterized in that it is displayed blinking at an arbitrary period during the display period.

  According to this, since the display image (700) blinks at an arbitrary period, the visual recognition position of the display image (700) is emphasized so that the driver (K) can easily see the preceding vehicle and the like. It is preferable.

  In the invention according to claim 6, in the vehicle display device according to claims 1 to 5, display and non-display of the display image (700) can be switched by the operation of the driver (K). It is characterized by becoming.

  According to this, since the display / non-display of the display image (700) can be arbitrarily changed, the display image (700) can be viewed when the driver (K) needs it. ,preferable.

  Further, in the invention according to claim 7, in the vehicle display device according to claim 6, the state in front of the host vehicle (100) detected by the front state detection means (101, 102, 103, 200) is dangerous. It has a risk determination means (200) for determining whether or not the display image (700) is not displayed, and when the risk determination means (200) determines that it is dangerous, the display is performed. It is characterized by that.

  According to this, in the vehicular display device according to the sixth aspect, even when the vehicle is in the non-display state, if the state in front of the host vehicle (100) is dangerous, a warning display for informing the danger is made. It is preferable for ensuring safety.

  In the invention according to claim 8, in the vehicle display device according to claims 1 to 7, the display form of the display image (700) can be registered according to the preference of the driver (K). It is characterized by having.

  According to this, since the display form of the display image (700) can be registered, the display image (700) adapted to the preference of the driver (K) can be displayed.

  According to the ninth aspect of the present invention, in the vehicular display device according to the first to eighth aspects, the display form of the display image (700) can be changed by the operation of the driver (K). It is characterized by being.

  According to this, since the display form of the display image (700) can be changed, the display form can be changed according to the preference of the driver (K) when the driver (K) is required.

  According to a tenth aspect of the present invention, in the vehicular display device according to the first to ninth aspects, an operation sound generating means for generating an operation sound when displaying the display image (700). 133) is provided.

  According to this, since the operation sound is added, the driver (K) can easily visually recognize the display image (700).

  According to an eleventh aspect of the present invention, in the vehicular display device according to the first to tenth aspects, stereoscopic display is performed through the windshield (44) of the host vehicle (100) using binocular parallax. A stereoscopic image generating means (132) for performing the display is provided, and the display image (700) is displayed by the stereoscopic image generating means (132).

  According to this, since it is possible to provide a display device that performs stereoscopic display using the parallax of both eyes in displaying the display image (700), when the driver (K) visually recognizes this display while viewing the preceding vehicle (900). However, it can be recognized as one display image, and the viewer does not feel uncomfortable due to the above-described binocular parallax.

  Here, a head-up display (132) can be employed as the stereoscopic image generating means.

  In addition, the code | symbol in the bracket | parenthesis of each said means is an example which shows a corresponding relationship with the specific means as described in embodiment mentioned later.

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

  FIG. 1 is a block diagram showing a configuration of a vehicle display device according to an embodiment of the present invention, and FIG. 2 is a diagram showing an arrangement example of each part of the vehicle display device in a vehicle (own vehicle) 100. is there. FIG. 3 is a front view showing the driver's seat and the windshield 44 in the vehicle (own vehicle) 100.

  As shown in FIG. 1, the vehicle display device according to the present embodiment includes an information input unit 205, an information output unit 206, an external storage device 207, and a control unit 200 that controls these. Yes.

  The information input unit 205 includes various parts such as a front radar 101, a front monitoring camera 102, a vehicle speed sensor 103, a throttle sensor 104, a brake hydraulic pressure sensor 105, and an automatic operation switch 106.

  The front radar 101 monitors the front of the vehicle 100 and detects the shape of the traveling road ahead, the position of the vehicle ahead (preceding vehicle) / obstacle (position in the front-rear direction and the left-right direction), the relative speed, and the like. Is.

  As shown in FIG. 2, the front radar 101 is disposed, for example, at an appropriate position in front of the vehicle 100. As such a front radar 101, for example, one that recognizes an object ahead by a laser can be employed.

  The front monitoring camera 102 obtains an image of the front of the vehicle 100, and is disposed, for example, on the ceiling of the passenger compartment of the vehicle 100 as shown in FIG. As such a front monitoring camera 102, for example, a CCD (charge-coupled device) or the like can be employed.

  The vehicle speed sensor 103 detects the speed of the vehicle 100, the throttle sensor 104 detects the throttle opening of the vehicle 100, and the brake hydraulic pressure sensor 105 detects the brake hydraulic pressure of the vehicle 100. is there. As these sensors 103, 104, and 105, general sensors can be adopted.

  The automatic operation switch 106 is a switch for turning on and off a driving state in which the vehicle speed is constant, that is, a so-called auto cruising mechanism. As shown in FIG. 2, the automatic operation switch 106 is provided in the vicinity of the handle 110, for example, and can be operated by the driver.

  Next, the information output unit 206 mainly includes a multi-display 131, a head-up display 132, a speaker 133, a throttle 134, a brake 135, and the like.

  Here, the display means such as the multi-display 131 and the head-up display 132, and the speaker 133 are configured as information presenting means for outputting an image and sound based on the image information and sound information generated by the control unit 200.

  The multi display 131 is composed of, for example, a liquid crystal display (LCD) or the like generally mounted in an automobile.

  The head-up display 132 is configured as a stereoscopic image generating unit 132 that performs stereoscopic display through the windshield 44 of the host vehicle 100 using binocular parallax. Details of the head-up display 132 will be described later.

  The speaker 133 is configured as an operation sound generating means for generating an operation sound when displaying a display image. The specific appearances of the multi-display 131 and the head-up display 132 are as shown in FIG.

  The throttle 134 and the brake 135 are actuators that operate based on a control signal generated by the control unit 200. Specifically, the actuators 134 and 135 are controlled by the control unit 200 to perform automatic driving (auto cruising) by operating the automatic driving switch 106.

  Next, the control unit 200 is composed of a CPU (central processing unit) 203 of the vehicle, a memory 202 composed of ROM / RAM, an input port 201, an output port 204, and the like.

  The control unit 200 collects signals obtained from the information input unit 205 via the input port 201 and stores the signals in the memory 202. Further, the memory 202 stores display image data to be displayed on the multi-display 131 and the head-up display 132.

  The process of storing various data in the control unit 200 in the memory 202 is specifically performed as follows.

  That is, the control unit 200 determines the front traveling road shape from the front radar 101 and the relative speed of the preceding vehicle when there is a preceding vehicle, the vehicle speed of the host vehicle 100 from the vehicle speed sensor 103, and the throttle sensor 104. The throttle opening and the brake hydraulic pressure from the brake hydraulic pressure sensor 105 are input via the input port 201 and stored in the memory 202.

  Further, the control unit 200 inputs an on / off state of a switch such as the automatic operation switch 106 and stores it in the memory 202. In addition, the control unit 200 acquires a front image from the front monitoring camera 102 and stores it in the memory 202.

  Then, the CPU 203 reads necessary information from the data information stored in the memory 202, determines the situation, and determines a control target and a control method. Here, the situation is a state in front of the host vehicle 100 or a control state of the host vehicle 100.

  Specifically, the state in front of the host vehicle 100 is a situation such as a road ahead, a preceding vehicle, or an obstacle, and the control state of the host vehicle 100 is a situation such as a vehicle speed of the host vehicle 100 or a brake support state. is there.

  Control targets include the multi-display 131, the head-up display 132, the speaker 133, the throttle 134, and the brake 135 of the information output unit 206.

  Then, the CPU 203 controls the control target determined from the HMI (Human Machine Interface) such as the multi-display 131, the head-up display 132, and the speaker 133, the throttle 134, and the brake 135 via the output port 204. Follow-up driving (auto cruise control) is realized by outputting a control signal.

  Here, among the display functions, functions related to display on the head-up display 132 will be mainly described.

  FIG. 3 shows the interior of the vehicle 100 as viewed from the driver's seat. The multi-display 131 and its display area, the navigation display area 131a, the head-up display 132, and the head-up located on the windshield 44 are shown. A display area 132a of the display 132 is shown.

  FIG. 4 is a diagram schematically showing the configuration of the head-up display 132 in the present embodiment. As shown in FIG. 4, the head-up display 132 includes a video projector 42, a screen 43, a windshield 44, and a Fresnel mirror 45. Here, the Fresnel mirror 45 is for enlarging an image from the screen 43 and making it visible to the eyes of a viewer (shown as a driver K in FIG. 4).

  The operation of the head-up display 132 as shown in FIG. 4 is as follows. The control unit 200 sends a video signal to the video projector 42 via a video data signal line 41 made of a cable or the like. The video projector 42 converts this video signal into light and projects it onto the screen 43.

  The screen 43 reflects the light projected from the video projector 42 toward the Fresnel mirror 45, and the Fresnel mirror 45 reflects the light toward the windshield 44.

  The windshield 44 reflects the light reflected by the Fresnel mirror 45 in the direction of the viewpoint of the driver K to form a virtual image that is visible to the driver K. The windshield 44 is superimposed on the light that passes through the windshield 44 itself from the front of the vehicle 100 and enters the passenger compartment, and presents this virtual image.

  Moreover, FIG. 5 is a figure which shows an example of the display of the display image 700 as a virtual image by the head-up display 132 in the display apparatus for vehicles of this embodiment. In FIG. 5, a square frame mark target mark 700 is shown as the display image 700.

  The control unit 200 controls the head-up display 132 based on the data information input from the information input unit 205. Thereby, as shown in FIG. 5, the target mark 700 is displayed on the windshield 44 with respect to the preceding vehicle 900 to highlight the preceding vehicle 900, and the vehicle speed and the distance between the preceding vehicle 900 and the vehicle. Or other characters are displayed.

  The control unit 200 controls the host vehicle 100 by controlling the actuators such as the throttle 134 and the brake 135 based on the data information input from the information input unit 205.

  Here, in this embodiment, the target mark 700 is displayed for a certain period of time so as to overlap the preceding vehicle 900, so that the preceding vehicle 900 can be easily displayed without disturbing the driver K's forward visual recognition act. It can be visually recognized, and troublesome display is prevented.

  In addition, the display form of the target mark 700 is changed according to the control state of the host vehicle 100, so that the driver K can easily understand the control state of the host vehicle 100.

  The target display for the preceding vehicle 900 on the head-up display 132 will be described more specifically with reference to the flowcharts of FIGS. 6 to 9 and the diagrams showing the display examples of FIGS.

  FIG. 6 is a flowchart showing a control flow of the vehicle display device. This display process is repeatedly executed when the ignition switch of the vehicle 100 is turned on, as shown in step 300 (S300) and step 311 (S311). In addition, when the ignition switch of the vehicle 100 is OFF, this display process is ended.

  As shown in FIG. 6, when execution of the display process is started, first, in step 301 (S301), the control unit 200 determines whether or not the display of the head-up display 132 is on.

  Here, the display of the head-up display 132 is turned on and off so that the display is turned on when the ignition switch (I / G) of the vehicle is turned on, and the display is turned off when the ignition switch of the vehicle is turned off. This is possible by interlocking with the ignition switch.

  Alternatively, a switch for turning on / off the display of the head-up display 132 may be provided, and the driver K may operate the switch to turn on / off the display of the head-up display 132.

  In step 301, when the display of the head-up display 132 is off (step 301: NO), the process proceeds to step 309 (S309), and when the display of the head-up display 132 is on (step 301: YES). ) Go to Step 302 (S302).

  In step 302, the control unit 200 inputs the various data described above from the information input unit 205 and stores it in the memory 202, and determines the presence or absence of the preceding vehicle 900 from the front radar 101 and the front monitoring camera 102.

  When the preceding vehicle 900 does not exist (step 302: NO), the process proceeds to step 311. When the preceding vehicle 900 exists (step 302: YES), the process proceeds to step 303 (S303).

  In the subsequent step 303, the control unit 200 analyzes the preceding vehicle data. Specifically, in the control unit 200, the CPU 203 calculates the position and relative speed of the preceding vehicle 900 based on the information stored in the memory 202, and the process proceeds to step 304.

  The details of the processing in step 303 are shown in FIG. FIG. 7 is a flowchart showing a control flow of step 303, ie, preceding vehicle data analysis.

  First, in step 3031 (S3031) shown in FIG. 7, the CPU 203 of the control unit 200 calculates the position of the preceding vehicle 900 with respect to the host vehicle 100 for the preceding vehicle 900 captured by the front radar 101 and the front monitoring camera 102. . Further, the vehicle speed data of the host vehicle 100 is read from the vehicle speed sensor 103.

  Next, in step 3032 (S3032), the CPU 203 of the control unit 200 determines the relative speed of the preceding vehicle 900 with respect to the host vehicle 100 based on the vehicle speed data from the vehicle speed sensor 103 and the time series data of the position of the preceding vehicle 900. calculate.

  Here, the data analysis of the preceding vehicle 900 is performed using the two data of the front radar 101 and the front monitoring camera 102, but the analysis is performed using either the front radar 101 or the front monitoring camera 102. May be.

  Next, in step 304 (S304) shown in FIG. 6, whether or not there is a preceding vehicle that can be followed by the host vehicle 100, that is, a following candidate vehicle, from the calculated position and relative speed of the preceding vehicle 900. Is determined by the control unit 200.

  For example, when the preceding vehicle is too fast or too slow compared to the host vehicle 100, or when the preceding vehicle is traveling in a different lane, the vehicle is not matched with the traveling state of the host vehicle 100. Judge that it is impossible.

  When it is determined that there is no following candidate vehicle (step 304: NO), the process proceeds to step 311. On the other hand, when it is determined that there is a follow-up candidate vehicle (step 304: YES), the process proceeds to step 305 (S305).

  In step 305, the control unit 200 controls the head-up display 132 to display the target preceding vehicle. The details of the processing in step 305 are shown in FIG. FIG. 8 is a flowchart showing step 305, that is, the control flow of this display.

  In step 3051 (S3051) shown in FIG. 8, the display form is determined based on the control state of the host vehicle 100 determined by the CPU 203 of the control unit 200, and the display image of the determined display form is read from the memory 202. . The control state of the host vehicle 100 is determined by the CPU 203 from data information such as the vehicle speed of the host vehicle 100 and the brake support state obtained from the information input unit 205.

  An example of the display form determined in step 3051 based on the control state of the host vehicle 100 is shown in FIG. In step 3051, actual display on the head-up display 132 is not performed. FIG. 5 shows an image when the display is actually performed on the head-up display 132 in the subsequent step 3052.

  Another example of the display form is shown in FIG. For example, when the distance between the host vehicle 100 and the preceding vehicle 900 is closer than a set value and the host vehicle 100 supports braking, the target mark (display image) 700 blinks and is emphasized as shown in FIG. Display and inform the driver K that the brake is operating.

  Here, an example in which the display form is highlighted when the brake is assisted as the control state of the host vehicle 100 is shown, but in addition, the case where the host vehicle 100 is in a state of excessive speed or the host vehicle 100 is The display image 700 may be blinked and highlighted even when the vehicle is accelerating.

  In this way, by changing the display form of the display image 700 in accordance with the control state of the host vehicle 100, the driver K can easily understand the control state of the host vehicle 100 and travels with peace of mind. be able to.

  In the example shown in FIG. 10, the highlighting of the display image 700 is blinking, but it may be other than that, for example, the emphasis may be performed by the color and the shape of the display image. Further, the driver K may be highlighted by changing the amount of parallax in the stereoscopic image and changing the perspective of the displayed image by controlling the head-up display 132. Of course, the highlighting method may be changed depending on the type of control state of the host vehicle 100.

  8, in the subsequent step 3052 (S3052), the control unit 200 determines the visual recognition position of the display image 700 to be displayed according to the detected state in front of the host vehicle 100, and the actual display on the head-up display 132 is performed. I do.

  Specifically, using the position of the preceding vehicle 900 analyzed in step 303 as a visual recognition position, display is performed on the head-up display 132 so that a display image such as the target mark 700 overlaps the preceding vehicle 900. This display state is shown in FIG. 5 and FIG.

  By displaying in this way, the driver K can easily view the preceding vehicle 900. In FIG. 5 and FIG. 10, a square mark target mark 700 is used as a display image and displayed so as to overlap the preceding vehicle 900. As such a target mark 700, a square mark is used. It is not limited to this, and it may be a circle or triangle.

  As other examples of the display form of the display image 700, FIGS. 11, 12, and 13 are shown. As shown in FIG. 11, the display image 700 may be displayed over the head of the preceding vehicle 900. In this example, a display image 700 as an arrow is displayed above the preceding vehicle 900.

  Further, as shown in FIG. 12, the display image 700 may be displayed below the preceding vehicle 900. In this example, the display image 700 is displayed as a thick line drawn below the preceding vehicle. ing. In the example shown in FIG. 13, the display image 700 is a contour image of the preceding vehicle 900, and this contour image is displayed superimposed on the preceding vehicle 900.

  In FIG. 8, in the subsequent step 3053 (S3053), the control unit 200 calculates the elapsed time from the start of display in step 3052 and determines whether or not a predetermined time has elapsed.

  If the predetermined time has not elapsed (step 3053: NO), the process returns to step 3052 and the display is continued. If it is determined that the predetermined time has elapsed (step 3053: YES), the process proceeds to step 3054.

  That is, in the above step 3052, the target mark (display image) 700 is displayed for a certain period of time at the visual recognition position determined according to the detected state in front of the own vehicle 100, that is, the position of the preceding vehicle 900. ing.

  In step 3054 (S3054), the display position of the display image 700 (that is, the viewing position of the display image) is changed to a predetermined position that is different from the previous display position. As described above, since the display position of the display image 700 is changed when a predetermined time has elapsed, the driver K can easily view the preceding vehicle 900 without being disturbed by the forward visual recognition action, thereby preventing troublesome display. can do.

  14 and 15 show an example in which the visual recognition position of the display image 700 is changed to a part closer to the periphery of the windshield 44 than the visual recognition position so far.

  FIG. 14 shows an example in which the visual recognition position of the target mark 700 which is a display image is changed to the lower part of the windshield 44, and the target mark 700 is moved together with the video data of the preceding vehicle 900 captured by the camera 102.

  FIG. 15 is an example in which the viewing position of the display image 700 is changed to the lower part of the windshield 44 and the display image 700 is displayed as a bird's eye view at the changed viewing position. FIG. 16 is an enlarged view of the bird's eye view shown in FIG.

  In this way, the display image 700 displayed at the changed visual recognition position is displayed in the form of a bird's-eye view showing the state around the host vehicle 100. Note that such bird's-eye view data is stored in the memory 202 of the control unit 200.

  In the examples shown in FIGS. 14 and 15, the changed viewing position is the lower part of the windshield 44, but the changed viewing position is closer to the periphery of the windshield 44 than the previous viewing position of the display image 700. Of course, it is not limited to this as long as it is located near the part. For example, the viewing position may be changed to the top, right end, left end, etc. of the windshield 44.

  In step 3054, the viewing position of the display image 700 is changed on the windshield 44. However, the display image 700 may be erased without changing the viewing position. In step 3054, the display image 700 may be displayed on the multi-display 131.

  After performing step 305 in this way, in step 306 (S306) in FIG. 6, if the driver K has not enabled the follow-up running (step 306: NO), the process proceeds to step 311. When the follow-up running is validated (step 306: YES), the process proceeds to step 307 (S307).

  Here, the case where the driver K enables the follow-up running is a case where the driver K performs the auto-cruise with the automatic driving switch 106 turned on, and the driver K makes the follow-up run effective. The case where the driver K is not selected is a case where the driver K turns off the automatic driving switch 106.

  In step 307, the control unit 200 controls the host vehicle 100 using information data from the front radar 101, the front monitoring camera 102, the vehicle speed sensor 103, the throttle sensor 104, and the brake hydraulic pressure sensor 105. The details of the processing in step 307 are shown in FIG. FIG. 9 is a flowchart showing a vehicle control flow for follow-up travel.

  In FIG. 9, in step 3071 (S3071), the control unit 200 reads data from the front radar 101, the front monitoring camera 102, and the vehicle speed sensor 103.

  In step 3072 (S3072), the control unit 200 analyzes the position of the preceding vehicle (following preceding vehicle) 900 determined as the following candidate vehicle, and the relative speed between the host vehicle 100 and the following preceding vehicle 900.

  In the subsequent step 3073 (S3073), the control unit 200 determines whether or not the inter-vehicle distance between the host vehicle 100 and the follow-up preceding vehicle 200 is appropriate. If appropriate (step 3073: YES), the control unit 200 ends. . If the inter-vehicle distance is inappropriate (step 3073: NO), the process proceeds to step 3074.

  In step 3074 (S3074), the control unit 200 controls the throttle 134 and the brake 135 to adjust the inter-vehicle distance to an appropriate distance. Thereby, auto-cruise control is performed.

  In step 308 (S308), a display image is displayed for the preceding vehicle 900 that is determined to follow. The display method in step 308 is the same as the display method in step 305 shown in FIG.

  In FIG. 6, in step 309 (S309), when the display of the head-up display 132 is off (step 301: NO), the control unit 200 determines whether the inter-vehicle distance between the host vehicle 100 and the preceding vehicle 900 is a dangerous distance. Determine whether or not.

  If it is determined that the distance is not a dangerous distance (step 309: NO), the process proceeds to step 311. On the other hand, if it is determined that it is a dangerous distance (step 309: YES), the process proceeds to step 310.

  In step 310 (S310), the control unit 200 controls the head-up display 132 to display a warning to the driver K about danger. For example, the character display “KIKEN” or a mark for recognizing danger is displayed on the head-up display 132 as a display image.

  As a result, when it is determined that the distance is dangerous even when the display is off (step 301: NO), the display on the head-up display 132 is performed, so that the driver K can easily recognize the dangerous state, leading to carelessness. A collision with the vehicle 900 can be reduced.

  As described above, in the present embodiment, the vehicle display device of the present embodiment that performs display through the windshield 44 of the host vehicle 100 is provided.

  In this embodiment, in this vehicle display device, the front radar 101, the front monitoring camera 102, the vehicle speed sensor 103, and the control unit 200 include front state detection means 101, 102 for detecting a state in front of the host vehicle 100, 103, 200. In the above example, the forward state detection unit detects the situation related to the preceding vehicle 900, but may detect the situation of a front obstacle or the like.

  Further, the vehicle speed sensor 103, the throttle sensor 104, the brake hydraulic pressure sensor 105, and the control unit 200 are configured as own vehicle detection means 103, 104, 105, 200 for detecting a control state of the own vehicle 100 such as a vehicle speed and a brake support state. Has been.

  Further, the control unit 200 determines the visual recognition position of the display image 700 to be displayed according to the state in front of the host vehicle 100 detected by the forward state detection means 101, 102, 103, 200. It is configured as.

  And in this embodiment, while changing the display form of the display image 700 according to the control state of the own vehicle 100 detected by the own vehicle detection means 103,104,105,200, the display visual recognition position determination means 200 is used. The main feature is that the display image 700 is displayed at the determined visual recognition position for a predetermined time.

  According to this, the visual recognition position of the display image 700 to be displayed is determined according to the state ahead of the host vehicle 100 such as the position of the preceding vehicle, and the display image 700 is displayed at the visual recognition position for a certain period of time. Therefore, the driver K can easily understand the state ahead of the host vehicle 100 without being disturbed as much as possible.

  In addition, since the display form of the display image 700 is changed according to the control state of the host vehicle 100 such as the vehicle speed and the brake assist state, the driver K can easily understand the control state of the host vehicle 100. Can do.

  Therefore, according to the present embodiment, the driver K can easily understand the state ahead of the host vehicle 100 and the control state of the host vehicle 100 without disturbing the driver K's forward visual recognition as much as possible, and travels with peace of mind. It is possible to provide a vehicular display device that can be used.

  Further, in the present embodiment, the control unit 200 as the display visual recognition position determination unit determines that the host vehicle 100 is in accordance with the position and relative speed of the preceding vehicle 900 detected by the front state detection units 101, 102, 103, 200. It is determined whether or not it is possible to follow the preceding vehicle, and the preceding vehicle 900 determined to be capable of following is determined as the visual recognition position of the display image 700 (see step 304 above).

  According to this, since the preceding vehicle 900 determined to be able to follow the own vehicle 100 can be displayed on the preceding vehicle 900 as a follow-up candidate vehicle, it is determined whether or not the driver K can easily follow the vehicle. Judgment can be made.

  In the present embodiment, as shown in FIG. 14 and FIG. 15, after the display image 700 is displayed for a certain period of time at the viewing position determined by the control unit 200 as the display viewing position determination unit, the display image is displayed. The viewing position 700 is changed to a portion closer to the periphery of the windshield 44 than the previous viewing position.

  According to this, even after the display image 700 is displayed for a certain period of time at the first viewing position, the display image 700 does not disappear and is changed to a position that does not hinder the driver K's forward viewing action as much as possible. Has been. Therefore, it is preferable because the driver K can visually recognize the display image 700 when necessary even after the display image 700 is displayed for a certain period of time at the first viewing position.

  Further, as shown in FIG. 15, if the display image 700 displayed at the changed viewing position is displayed as a bird's-eye view showing the state around the host vehicle 100, the driver K can determine the driver K. The positional relationship between the vehicle and the preceding vehicle 900 can be easily understood, which is preferable.

  In addition, as shown in FIG. 10, a display image 700 that is displayed for a certain period of time at the visual recognition position determined by the control unit 200 as the display visual recognition position determination means blinks at an arbitrary period during the display period. In this case, the visual recognition position of the display image 700 is emphasized, and the driver K can easily visually recognize the preceding vehicle and the like, which is preferable.

  Further, as described above, the display of the head-up display 132 can be turned on / off in conjunction with the ignition switch of the vehicle or by the driver K's switch operation.

  Here, in the latter case, that is, if the display and non-display of the display image 700 can be switched by the switch operation of the driver K, the display and non-display of the display image 700 can be arbitrarily changed, and the driving Since the display image 700 can be seen when the person K needs it, the troublesomeness is eliminated, which is preferable.

  In the case where the display of the head-up display 132 is turned on and off by the driver K's switch operation, it can be performed in step 301 in the control flow shown in FIG.

  In this embodiment, as described in step 309 above, the control unit 200 determines whether the state in front of the host vehicle 100 detected by the front state detection means 101, 102, 103, 200 is dangerous. It is also configured as a risk judgment means 200 for judging the above.

  When the display image 700 is not displayed, if the control unit (danger determination unit) 200 determines that the display image 700 is dangerous, the head-up display 132 performs display.

  As a result, even if the head-up display 132 is in a non-display state (display is off), if the state in front of the host vehicle 100 is dangerous, a warning is displayed to notify the danger, thus ensuring safety. Preferred for. In the above example, it is determined whether the distance between the preceding vehicle 900 and the vehicle is dangerous. However, the risk determination may be similarly performed for other front obstacles.

  Further, in step 3054 in the display flow shown in FIG. 8 above, when the display image 700 is displayed at the changed viewing position, the distance between the preceding vehicle 900 and the preceding vehicle 900 becomes too close. The situation can be dangerous.

  In such a case, this dangerous state is determined by the control unit 200, and if it is determined to be dangerous, the visual recognition position of the display image 700 may be returned to the original position of the preceding vehicle 900 again. . This informs the driver K of the danger.

  In the present embodiment, the head-up display 132 is configured as a stereoscopic image generating unit 132 for performing stereoscopic display through the windshield 44 of the host vehicle 100 using binocular parallax. The display is performed by the head-up display 132 as the stereoscopic image generating means.

  According to this, since it is possible to provide a display device that performs stereoscopic display using the parallax of both eyes in displaying the display image 700, even if the driver K views the preceding vehicle 900 while viewing the preceding vehicle 900, the display image 700 is displayed as one display image. Can be recognized, and the above-mentioned discomfort caused by the binocular parallax does not occur.

  In the present embodiment, the control unit 200 as the display visual recognition position determining unit detects that the preceding vehicle 900 has been changed by the front state detecting units 101, 102, 103, and 200, and the The preceding vehicle 900 may be configured such that the viewing position of the display image 700 can be changed.

  The change of the visual recognition position accompanying the change of the preceding vehicle 900 is performed in step 303 in the control flow shown in FIG. Thereby, the driver K can easily recognize the change of the preceding vehicle 900.

  In the present embodiment, the display form of the display image 700 may be registered according to the preference of the driver K. Specifically, registration may be performed in the memory 202 of the control unit 200. Thereby, it is possible to display the display image 700 according to the preference of the driver K.

  For example, FIG. 17 is a diagram showing an example of a display form registered by the driver K. As shown in this figure, a line 700a is displayed between the target mark 700 and the host vehicle 100, as if A display as if the host vehicle 100 is being pulled by the preceding vehicle 900 may be performed.

  In the present embodiment, the display form of the display image 700 may be changed by the operation of the driver K. For example, by providing a switch connected to the control unit 200 and operating the switch by the driver K, the display form of the display image 700 can be changed.

  This change is performed in the display steps of Steps 305, 308, and 310 in the control flow shown in FIG. Accordingly, since the display form of the display image 700 can be changed, the display form of the display image 700 can be changed according to the preference of the driver K when the driver K needs it.

  In the present embodiment, the speaker 133 may be configured as an operation sound generating unit 133 for generating an operation sound when the display image 700 is displayed. This operation sound can be generated by the control of the control unit 200, and is performed in the display steps of Steps 305, 308, and 310 in the control flow shown in FIG.

  According to this, by adding the operation sound, the driver K is informed of the start of display by the head-up display 132, and the driver K can easily visually recognize the display image 700.

  Further, in the present embodiment, the control unit 200 detects the position and relative speed of the preceding vehicle 900 by the forward state detecting means 101, 102, 103, 200, and according to the detected state of the preceding vehicle 900. It is also configured as own vehicle control means for controlling the state of the own vehicle 100.

  In the above example, in step 3074, the control unit 200 controls the throttle 134 and the brake 135 to adjust the inter-vehicle distance to an appropriate distance. Thus, this vehicle display device has a function that enables automatic safe driving control.

  Note that this embodiment is a vehicle display device that performs display through the windshield of the host vehicle, and includes the front state detection unit, the host vehicle detection unit, and the display visual position determination unit. The display image display form is changed in accordance with the control state of the host vehicle detected by the vehicle, and the display image is displayed for a certain period of time at the viewing position determined by the display viewing position determination means. For other portions, it is possible to adopt a form in which design changes are made as appropriate.

It is a block diagram which shows the structure of the display apparatus for vehicles which concerns on embodiment of this invention. It is a figure which shows the example of arrangement | positioning in the vehicle of each part of the display apparatus for vehicles shown by FIG. It is a front view which shows the mode of the driver's seat and windshield in a vehicle. It is a figure which shows typically the structure of the head-up display in the display apparatus for vehicles of the said embodiment. It is a figure which shows an example of the display form by the head-up display in the display apparatus for vehicles of the said embodiment. It is a flowchart which shows the control flow of the display apparatus for vehicles of the said embodiment. It is a flowchart which shows the control flow of the preceding vehicle data analysis in the control flow shown by FIG. It is a flowchart which shows the control flow of a display in the control flow shown by FIG. It is a flowchart which shows the vehicle control flow of the follow-up driving | running | working in the control flow shown by FIG. It is a figure which shows the example of the highlight display by blinking as an example of the display form by the head-up display in the display apparatus for vehicles of the said embodiment. It is a figure which shows the example of a display to the head of a preceding vehicle as an example of the display form by the head-up display in the display apparatus for vehicles of the said embodiment. It is a figure which shows the example of a display to the lower part of a preceding vehicle as an example of the display form by the head-up display in the display apparatus for vehicles of the said embodiment. It is a figure which shows the example of a display to the preceding vehicle by an outline image as an example of the display form by the head-up display in the display apparatus for vehicles of the said embodiment. It is a figure which shows the example which changed the visual recognition position of the display image into the site | part close | similar to the peripheral part of a windshield rather than the visual recognition position until then. It is a figure which shows an example of the display by a bird's-eye view. It is a figure which expands and shows the bird's-eye view shown in FIG. It is a figure which shows an example of the display form which the driver | operator registered.

Explanation of symbols

44 ... windshield, 100 ... own vehicle, 101 ... front radar,
102: Front monitoring camera, 103: Vehicle speed sensor, 104: Throttle sensor,
105 ... Brake oil pressure sensor, 132 ... Head-up display,
133 ... Speaker, 200 ... Control unit, 700 ... Display image, 900 ... Preceding vehicle,
K ... Driver.

Claims (12)

In the vehicle display device that performs display through the windshield (44) of the host vehicle (100),
Forward state detecting means (101, 102, 103, 200) for detecting a state in front of the host vehicle (100);
Own vehicle detection means (103, 104, 105, 200) for detecting the control state of the own vehicle (100);
Display visual position determination means (108) for determining the visual recognition position of the display image (700) to be displayed according to the state in front of the host vehicle (100) detected by the forward state detection means (101, 102, 103, 200). 200)
The display form of the display image (700) is changed according to the control state of the own vehicle (100) detected by the own vehicle detection means (103, 104, 105, 200), and the display visual position determination means The display apparatus for a vehicle, wherein the display image (700) is displayed for a predetermined time at the visual recognition position determined by (200). The display visual position determining means (200) determines whether the host vehicle (100) is in accordance with the position and relative speed of the preceding vehicle (900) detected by the forward state detecting means (101, 102, 103, 200). It is determined whether or not it is possible to follow a preceding vehicle, and the preceding vehicle (900) determined to be capable of following is determined as a visual recognition position of the display image (700). The vehicle display device according to 1. After displaying the display image (700) for a certain time at the visual recognition position determined by the display visual recognition position determination means (200),
3. The vehicle according to claim 1, wherein the visual recognition position of the display image (700) is changed to a part closer to the periphery of the windshield (44) than the visual recognition position so far. Display device. The said display image (700) displayed on the said visual recognition position after a change is displayed as a bird's-eye view showing the state around the said own vehicle (100), For vehicles of Claim 3 characterized by the above-mentioned. Display device. The display image (700) displayed for a certain period of time at the visual recognition position determined by the display visual recognition position determining means (200) is displayed blinking at an arbitrary period during the display period. The vehicle display device according to claim 1, wherein the display device is a vehicle display device. The vehicle display device according to any one of claims 1 to 5, wherein display and non-display of the display image (700) can be switched by an operation of a driver (K). . A risk determination unit (200) for determining whether the state in front of the host vehicle (100) detected by the front state detection unit (101, 102, 103, 200) is dangerous;
The vehicular display device according to claim 6, wherein when the display image (700) is not displayed, the display is performed when the danger determination means (200) determines that the display image is dangerous. . The display apparatus for a vehicle according to any one of claims 1 to 7, wherein the display form of the display image (700) can be registered according to a preference of a driver (K). The vehicle display device according to any one of claims 1 to 8, wherein a display form of the display image (700) can be changed by an operation of a driver (K). The vehicle according to any one of claims 1 to 9, further comprising operation sound generating means (133) for generating an operation sound when displaying the display image (700). Display device. 3D image generating means (132) for performing stereoscopic display through the windshield (44) of the host vehicle (100) using binocular parallax,
The vehicle display device according to any one of claims 1 to 10, wherein the display image (700) is displayed by the stereoscopic image generating means (132). The vehicle display device according to claim 11, wherein the stereoscopic image generating means is a head-up display (132).

Images