JP2005128607A - Vehicular display device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicular display device for detecting a motion of own vehicle and a surrounding vehicle and displaying the motion of the surrounding vehicle as a vector. <P>SOLUTION: The device comprises a radar sensor 100 detecting a merging vehicle; a vector data calculation unit 110 calculating a vector of the merging vehicle and own vehicle by receiving information from a vehicle speed sensor 101 detecting the speed of own vehicle and a steering angle sensor 102 detecting steering wheel steering angel of own vehicle; a display data generation unit 200 receiving information from the calculation unit 110 to generate a vector display image; and a display projection unit 300 receiving information from the generation unit 200 to project the display image toward a front window 10. The device calculates a relative vector from a variation amount of a relative position between the merging vehicle and own vehicle, calculates the vector of own vehicle from the speed sensor 101 and the steering angel sensor 102, subtracts the vector of own vehicle from the relative vector and calculates the vector of the merging vehicle to project it as a vector display image toward the front window 10 from the projection unit 300. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a vehicular display device that is mounted on a vehicle and displays a situation of surrounding vehicles to a driver for notification.

  A display device mounted on a conventional vehicle has a configuration in which a front obstacle is detected and a bright spot is displayed on the head-up display so that the driver can pay attention to the obstacle.

Japanese Patent Laid-Open No. 10-246640

  Since only the position of the obstacle is informed by the bright spot, when there is another vehicle as an obstacle, it may not be possible to determine how the other vehicle is moving. Especially in situations where there are merging vehicles on the own lane, how the merging vehicle is going to advance, how much the speed difference between the own vehicle and the merging vehicle, etc. There was a problem that it was difficult to judge.

  The present invention has been made to solve the above-described problem, and an object thereof is to provide a vehicle display device that can determine the movement of a surrounding vehicle.

  In order to achieve the above object, in the present invention, the surrounding vehicle detection means for detecting the movement of the surrounding vehicle of the own vehicle, the own vehicle detection means for detecting the movement of the own vehicle, the surrounding vehicle detection means, and the own vehicle detection means. Based on this information, vector calculation means for calculating the vectors of the surrounding vehicle and the host vehicle, and calculation of the display position of the vector and generation of a vector display image from the vector calculation means and the positions and movements of the surrounding vehicle and the host vehicle A display image generating means that performs display based on a signal from the display image generating means, calculates a vector of a surrounding vehicle approaching the host vehicle, and calculates a relative position between the host vehicle and the surrounding vehicle, and The depression angle and direction of the display image of the vector are calculated from the height of the viewpoint of the driver, the display position is controlled so that the vector is displayed in front of the surrounding vehicle, and the viewing angle of the surrounding vehicle is changed. According to the amount, it has a configuration to change the size and display position of the display image of the vectors to be displayed.

  By displaying the vector indicating the traveling direction of the surrounding vehicle in front of the surrounding vehicle, and changing the size and display position of the vector display according to the amount of change in the viewing angle from the driver to the surrounding vehicle, The movement of surrounding vehicles can be determined.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings described below, components having the same function are denoted by the same reference numerals, and repeated description thereof is omitted.

  A first embodiment of the present invention will be described with reference to FIGS.

  FIG. 1 is a block diagram showing the configuration of the first embodiment of the present invention. The configuration of the first embodiment of the present invention will be described with reference to FIG. A radar sensor (ambient vehicle detection means) 100 that detects surrounding vehicles, for example, surrounding vehicles that join the own lane, a vehicle speed sensor 101 that detects the speed of the own vehicle, and a steering angle sensor 102 that detects the steering steering angle of the own vehicle. Is a vector for calculating vectors of the traveling direction of the surrounding vehicle and the host vehicle in response to information from the host vehicle detection unit (own vehicle detection means) 105, the radar sensor 100, the vehicle speed sensor 101, and the rudder angle sensor 102. A display data generation unit (display image generation unit) 200 that receives information from the data calculation unit (vector calculation unit) 110 and the vector data calculation unit 110 and generates vector display data viewed from the viewpoint of the driver, a display data generation unit A display projection unit (display unit) 30 that receives information from 200 and projects a display image toward the front window. It is.

  FIG. 2 is a diagram for explaining the display projection unit 300 according to the first embodiment. A projector 310 that projects a display image stored in the dash panel 12 in front of the steering 11 is an LCD (Liquid). It is composed of a display device such as a crystal display (DMD) or a digital micromirror display (DMD) and a light source and a lens for irradiating light, and the reflection mirror 311 is for reflecting the display image from the projector 310 to the windshield of the front window 10. . With this configuration, it is possible to generate a HUD (Headup Display) display image that allows the driver to visually recognize the display image while being superimposed on the foreground.

  Next, the operation of the first embodiment will be described with reference to the flowchart shown in FIG. 3 and the explanatory diagram showing the display data generation method shown in FIG. 4 ((a) is a front view, (b) is a plan view). To do.

  First, in step 1, the onboard radar sensor 100 detects the merging vehicle 400 as a surrounding vehicle in the first embodiment. When the joining vehicle 400 is detected, the vector data calculation unit 110 calculates a relative vector from the amount of change in the relative position of the joining vehicle 400 and the host vehicle 500 in step 2.

  In step 3, the vector data calculation unit 110 obtains the speed of the host vehicle 500 from the vehicle speed sensor 101, obtains the traveling direction of the host vehicle from the rudder angle sensor 102, calculates the vector B of the host vehicle 500, and calculates the relative value calculated in step 2. Subtract vector B from vector. The vector A of the merging vehicle 400 that merges is calculated by this calculation.

Next, in step 4, the display data generation unit 200 converts the viewpoint of the vector A data into a display image viewed from the driver of the host vehicle 500. For example, in order to display an arrow-shaped figure (vector display image) 401 in front of the merging vehicle 400 in FIG. 4, a predetermined distance (display position) L _{s from} the position of the merging vehicle 400, the vector A of the merging vehicle 400 The position moved in the direction is set as the display position of the vector display image 401. The display position of the vector display image 401 includes a predetermined distance L _s , a relative distance L ₁ between the joining vehicle 400 and the host vehicle 500, a depression angle θ _f1 from the driver's viewpoint 600 to the display position of the vector display image 401, and a direction D ₁ . By calculating and calculating the display shape (size and shape) of the vector display image 401, the driver can generate a HUD display image so that the vector can be seen in the vector display image 401.

Then merging vehicle 400 is accelerating the speed, when the relative position between the vehicle 500 is in the position of relative distance L ₂ When proceeding to the position of the merging vehicle 400a, the size and a predetermined distance vector display image 401 _a L _s1 is obtained from the viewing angle change amount of the viewing angle θ ₂ with respect to the viewing angle θ ₁ obtained by the change of L2 with respect to the relative distance L1 with respect to the vector display image 401, and the display position of the vector display image 401 _a is as described above. Is determined by the depression angle θ ₂ and the direction D ₂ .

In step 5, the obtained vector display image 401 (or 401 _a ) is projected onto the windshield by the display projection unit 300, the reflected light is visually recognized by the driver, and the vector display image 401 is joined to the driver by the vehicle 400. It is visually recognized as displayed in front of.

  When it is determined in step 6 that the joining vehicle 400 has joined before and after the host vehicle 500, the display is ended. A display example of the first embodiment is shown in FIG.

  As described above, when the joining vehicle 400 is present, an arrow (vector display image 401) is displayed in front of the joining vehicle 400 according to the vector A of the joining vehicle, and the joining vehicle 400 is about to join immediately or proceeds forward. It is easy to determine the movement of the joining vehicle 400, such as whether to join.

  Moreover, since the size of the vector display image 401 changes according to the distance of the merging vehicle 400 by converting to the vector display image 401 viewed from the driver's viewpoint, the sense of unity between the merging vehicle 400 and the vector display image 401 increases. Even if the vector display image 401 is visually recognized, the joining vehicle 400 is easily visually recognized.

  Furthermore, the color of the vector display image 401 viewed from the driver's viewpoint can be changed according to the approach distance between the joining vehicle 400 and the host vehicle 500. For example, it is possible to convey the degree of danger by changing to three levels of far / middle / near and changing the color to green / yellow / orange.

In the case where the joining vehicle 400 is a large vehicle such as a truck or the like, a vector display is performed by correcting the predetermined distance L _s based on the vehicle size of the large vehicle obtained by the radar sensor 100 or the like. It is possible to correct the display position of the image 401 and display the vector display image 401 in front of the large vehicle.

  Next, a second embodiment will be described with reference to FIGS. 6A, 6B, 7A, and 7B. FIG. 6A is a diagram for explaining a display position where the vector B of the host vehicle 500 is subjected to viewpoint conversion and the vector display image 501 is displayed. Since the shape of the host vehicle 500 is known, The image is displayed forward by a predetermined distance M or more so that the vector display image 501 does not overlap the host vehicle 500. When the vector display image 501 is displayed at the very end of the bonnet, the driver can visually recognize the display of the host vehicle 500 more strongly. FIG. 6B shows a display example of the vector display image 501.

  In the first embodiment, the vector A data is displayed as a vector display image 401 as shown in FIG. 7A. However, as described with reference to FIG. It can be displayed like a vector display image 501 in front of the host vehicle, and the relationship between the host vehicle 500 and the merged vehicle 400 can be displayed in an easily understandable manner.

  FIG. 7A shows the vector A and B data of the merging vehicle 400 and the host vehicle 500 displayed as a vector display image 401 and a vector display image 501, and the positional relationship between the vector display image 401 and the vector display image 501. For example, when the vector display image 401 faces the vector display image 501, the host vehicle 500 can pass first, and when the vector display image 401 faces farther than the vector of the host vehicle 500. It can be determined that the joining vehicle 400 goes first.

  Furthermore, as shown in FIG. 7B, the textures of the vector display image 401 and the vector display image 501 can be changed depending on which of the joining vehicle 400 and the host vehicle 500 goes first. For example, it is possible to fill the vector display image 401 of the merging vehicle 400 going ahead and to display the vector display image 501 of the host vehicle 500 in a stripe shape. At this time, the stripe may be moved according to the vehicle speed of the host vehicle 500, and the stripe may be displayed so as to flow along with the movement of the road surface. Alternatively, the display colors of the respective vector display images 401 and 501 can be changed.

  Next, a third embodiment will be described with reference to FIG.

  FIG. 8 adds a GPS sensor 103 and a map database 210 for detecting the position of the host vehicle 500 to FIG. 1, and maps a map from the host vehicle position obtained by the GPS sensor 103 and map data from the map database 210. By detecting the position of the host vehicle above, it is possible to detect that the host vehicle 500 is approaching the junction. That is, according to the arrival time of the host vehicle 500 at the merge point, when the host vehicle 500 approaches the merge point, the radar vehicle 100 can be directed to the side to detect the merge vehicle 400. In this case, the vector display images 401 and 501 of the merging vehicle 400 and the host vehicle 500 are displayed. As described in the second embodiment, the host vehicle first moves from the intersection state of the vector display images 401 and 501. It is possible to determine whether to pass the vehicle or to join the joining vehicle.

  Further, for example, a junction point with the junction vehicle is calculated from the relative speed, the relative distance, etc. of the junction vehicle 400 obtained from the radar sensor 100 and the position of the host vehicle 500, and the junction point is determined at the end of the junction lane from the map data. When it is estimated that the vehicle is close, it is presumed that the joining vehicle 400 suddenly joins, and the information is additionally displayed by flashing red or the like superimposed on the vector display image 401 to alert the driver. Is possible.

  Next, a fourth embodiment will be described with reference to FIG.

  FIG. 9 adds an electronic camera 220 for acquiring a front image to FIG. 1 and an image processing unit 221 for detecting blinking of a blinker of the merging vehicle 400 from the image obtained from the camera 220. 9 can detect blinking of the blinker of the merging vehicle 400, and the vector display image 401 can be blinked and displayed in accordance with the blinking period of the detected blinker. Thereby, the effect that the joining vehicle 400 and the vector display image 401 are recognized more integrally is acquired.

  Next, a fifth embodiment will be described with reference to FIGS.

  10 adds a rear side sensor 230 for detecting the presence or absence of a rear side vehicle to FIG. 1, and the rear side sensor 230 is a radar sensor, an ultrasonic sensor, or a vehicle detection for performing vehicle recognition. It consists of an electronic camera. In the fifth embodiment, when the merged vehicle 400 is detected and the vector display image 401 is displayed, it is determined whether or not the own vehicle 500 can change the lane to the side together with the vector display image 401. It is possible to display. For example, when the radar sensor 100 recognizes the merging vehicle 400 and the vector display image 401 is displayed, the rear side sensor 230 is operated, the presence / absence of the rear side vehicle, the relative speed of the rear side vehicle, It is possible to measure the distance or the like and display whether or not the lane change of the host vehicle 500 toward the front side is possible together with the vector display image 401. Accordingly, it is possible to determine the lane change while paying attention to the trend of the merged vehicle, and smooth driving can be performed. When the vector display image 501 is also displayed, an indication as to whether or not the lane change is possible is displayed in the vicinity of the vector display image 501. For example, when the lane change is possible, the vector display image 502 is displayed. If it is not possible, a display with an X mark at the tip of the arrow of the vector display image 502 may be performed.

  In each of the embodiments described above, a projector using an LCD or DMD is used as the display projection unit 300. However, a self-luminous VFD (Vacuum Fluorescent Display), an EL (Electroluminescence Display), an LED (Light Emitting Diode). Needless to say, Display may be used. Further, an HMD (Headmount Display) that is attached to the driver by correcting the position of the display image according to the position of the head and providing a means for detecting the movement of the head of the driver may be used.

  The means for detecting the merged vehicle uses a radar sensor, but the merged vehicle may be detected by image recognition, vehicle-to-vehicle communication, or the like.

  Furthermore, although the joining vehicle is raised as a surrounding vehicle, the same display can be performed if the vehicle is a vehicle around the host vehicle, such as a vehicle that changes lanes.

The block diagram which shows the structure of 1st Embodiment. The figure which shows the structure of a display projection part. The flowchart which shows operation | movement of 1st Embodiment. Explanatory drawing which shows the production | generation method of display data. The example of a vector display image seen from the viewpoint of the driver of 1st Embodiment. The figure which shows the vector display image of the own vehicle of 2nd Embodiment. The example of a vector display image of a 2nd embodiment. The block diagram which shows the structure of 3rd Embodiment. The block diagram which shows the structure of 4th Embodiment. The block diagram which shows the structure of 5th Embodiment. The example of a vector display image of a 5th embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Front window 100 Radar sensor 103 GPS sensor 105 Own vehicle detection part 110 Vector data calculation part 200 Display data generation part 210 Map database 220 Camera 221 Image processing part 230 Rear side sensor 300 Display projection part 400 Merge vehicles 401, 401 _a Merge viewpoint D ₁ vector display image 500 vehicle 501 vehicle vector display image 600 drivers of the vehicle, _{D 2} direction h viewpoint height θ _f1, θ _f2 depression θ _1, θ ₂ viewing angle

Claims (7)

Surrounding vehicle detection means for detecting surrounding vehicles of the host vehicle,
Own vehicle detection means for detecting the movement of the own vehicle;
Vector calculation means for calculating movements of the surrounding vehicle and the own vehicle as vectors based on information of the surrounding vehicle detection means and the own vehicle detection means;
Display calculation unit for calculating the display position of the vector and generating a display image of the vector from the position and movement of the surrounding vehicle and the own vehicle;
In the vehicle display device comprising display means for performing display based on the display image of the vector from the display image generation means,
A vector of the surrounding vehicle approaching the host vehicle is calculated, and the display image generating means calculates the depression angle of the display image of the vector and the relative position of the host vehicle and the surrounding vehicle and the height of the driver's viewpoint. The direction is calculated, the display position is controlled so that the display image is displayed in front of the surrounding vehicle, and the size and the display position of the display image to be displayed are changed in accordance with the viewing angle change amount of the surrounding vehicle. And a vehicle display device.   The display means is a head-up display that irradiates display light toward a front window and visually recognizes reflected light from the windshield of the front window, forms the display image at a distance, and forward The vehicular display device according to claim 1, wherein the display is superimposed on the display image so that the driver can visually recognize the display image.   A junction point is calculated from a road shape and the position of the host vehicle, and the vector of the surrounding vehicle and the host vehicle is displayed as the display image in accordance with the arrival time of the host vehicle at the junction point. The vehicle display device according to claim 1 or 2.   The vehicle display device according to claim 1, wherein a color of the display image to be displayed is changed according to a degree of approach of the surrounding vehicle.   The vehicle display device according to claim 1, further comprising a means for detecting a blinker of the surrounding vehicle, wherein the display image blinks in accordance with blinking of the blinker of the surrounding vehicle. .   The vehicle display device according to any one of claims 1 to 5, further comprising means for detecting a vehicle size of the surrounding vehicle, wherein the display image is displayed so as not to be superimposed on the vehicle.   A means for detecting a rear side vehicle is provided, and information indicating whether or not the own vehicle can be changed to the adjacent lane is matched with the display image of the surrounding vehicle, and the lane change is made to the adjacent lane. The vehicle display device according to claim 1, wherein information indicating whether or not it is possible is presented.

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