JP2007318324A - Image display device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an image display device which suppresses a decrease in driver's visibility due to superposition display of an infrared image even if behavior of a vehicle changes. <P>SOLUTION: The image display device 1 which is mounted on the vehicle, and superposes and displays the infrared image obtained by imaging an actual scene by an infrared camera includes vibration detecting means 4 and 9 of detecting vibrations that the vehicle receives and a superposition display control means 9 which controls superposition display of the infrared image, and when a state wherein the vibrations detected by the vibration detecting means 4 and 9 exceed a vibration threshold last for a predetermined time, the superposition display control means 9 performs control so that the superposition display of the infrared image becomes harder to view than usual. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an image display device that superimposes and displays an infrared image on a real scene.

In order to assist the driver in situations where it is difficult to see with the naked eye such as at night, various types of image display devices equipped with a night vision function mounted on a vehicle have been developed. Among these image display devices, there is one that cuts out a region that is difficult to see with the naked eye of the driver from an infrared image captured by an infrared camera, and displays the infrared image of the region superimposed on a real scene using a head-up display (Patent Document 2). reference).
Japanese Patent Application Laid-Open No. 2004-254044

  If the behavior of the vehicle changes while the infrared image is superimposed on the actual scene, the driver's visibility may be reduced due to the superimposed display. For example, when the vehicle is vibrated on an uneven road or the like, the infrared image is shifted in display along the vibration direction with respect to the actual scene. Therefore, it becomes difficult for the driver to see the region that is superimposed and displayed by the infrared image. In particular, on roads where loose irregularities continue, a monotonous and continuous display shift occurs, which may cause the driver to get sick of display. In addition, when the vehicle turns suddenly at an intersecting intersection or a sharp curve road, the superimposed display of the infrared image is delayed with respect to the actual scene, and the superimposed display cannot follow the actual scene. In particular, the faster the turn, the more noticeable the display delay becomes and the object itself in the infrared image cannot be recognized. At the time of turning, since the driver is actually looking at the turning direction, the line of sight is shifted leftward or rightward from the superimposed display area (directly in front of the vehicle). The brighter the image, the more easily the line of sight is lost. Therefore, the driver feels annoyed because the infrared image that does not cover the turning direction becomes an attractive stimulus.

  Therefore, an object of the present invention is to provide an image display device that suppresses a reduction in driver visibility due to superimposed display of infrared images even when the behavior of the vehicle changes.

  An image display apparatus according to the present invention is an image display apparatus that is mounted on a vehicle and displays an infrared image captured by an infrared camera over a real scene, and includes a vibration detection unit that detects vibration received by the vehicle, and an infrared image. Superimposing display control means for controlling the superimposing display of the infrared image, and the superimposing display control means performs the superimposing display of the infrared image at a normal time when the state in which the vibration detected by the vibration detecting means has exceeded the vibration threshold value continues for a predetermined time. Control is made so that it becomes more difficult to see.

  In this image display device, the vibration detected by the vehicle is detected by the vibration detection means. In the image display device, when the state where the detected vibration is equal to or greater than the vibration threshold continues for a predetermined time or longer, the superimposed display control unit controls the superimposed display so that the infrared image is less visible than usual. The vibration threshold value and the predetermined time are determination criteria for determining whether or not the display deviation exceeds the sensory allowance when the infrared image is deviated from the actual scene due to the vibration received by the vehicle. In this way, in the image display device, when a display deviation that exceeds sensory tolerance occurs due to vehicle vibration, it is difficult to see the superimposed infrared image, and it is difficult to see the actual scene itself by the infrared image of the display deviation. Suppress. As a result, a direct view of the actual scene is secured, and the driver can visually recognize the actual scene. In addition, the driver does not cause display sickness due to display deviation.

  In the image display device of the present invention, the superimposed display control means may be configured to reduce the brightness of the infrared image from the normal time when the vibration detected by the vibration detection means continues for a predetermined time or longer. Good.

  In the superimposed display control means of this image display device, the brightness of the infrared image is decreased from the normal time in order to make the infrared image less visible than normal. The degree of reduction is such that the uncomfortable feeling due to the display deviation exceeding the sensory tolerance is eliminated, and the display deviation due to the infrared image does not hinder the direct field of view of the actual scene.

  In the image display device of the present invention, the superimposed display control unit may be configured to stop the superimposed display of the infrared image when the state in which the vibration detected by the vibration detecting unit is equal to or greater than the vibration threshold continues for a predetermined time.

  In the superimposed display control means of this image display device, the superimposed display of the infrared image is stopped in order to make the infrared image less visible than usual. In this case, only the actual scene is provided, and the direct view of the actual scene is not hindered by the display shift caused by the infrared image.

  In the image display device of the present invention, the superimposed display control means makes it difficult to see the superimposed display of the infrared image from the normal time when the state in which the vibration detected by the vibration detecting means has exceeded the vibration threshold value continues for a predetermined time. Alternatively, the infrared camera may be adjusted.

  In the superimposed display control means of this image display device, the infrared camera is adjusted in order to make the infrared image less visible than usual. When an infrared image is obtained by an infrared camera, the obtained infrared image becomes brighter as the output of the infrared ray applied to the imaging region increases. Therefore, for example, in order to make an infrared image more difficult to see than usual, an infrared camera is adjusted to reduce the output of the irradiated infrared (including setting the output to 0), or there is a display shift. The direction of infrared irradiation is shifted from the generated area (including the case where the imaging area is not irradiated with infrared light at all). As described above, by adjusting the infrared camera, the brightness of the infrared image is reduced or a region in which the display shift occurs in the infrared image is not included, and the direct view due to the actual scene is not hindered by the display shift due to the infrared image. .

  An image display apparatus according to the present invention is an image display apparatus that is mounted on a vehicle and displays an infrared image captured by an infrared camera over a real scene, and includes a vibration detection unit that detects vibration received by the vehicle, and an infrared image. Superimposing display control means for controlling the superimposing display of the superposition display control means, the superimposition display control means, when the state in which the vibration detected by the vibration detecting means is equal to or greater than the vibration threshold continues for a predetermined time, to the vibration detected by the vibration detecting means. Accordingly, the superimposed display of infrared images is shifted and displayed.

  In this image display device, the vibration detected by the vehicle is detected by the vibration detection means. In the image display device, when the state in which the detected vibration is equal to or greater than the vibration threshold continues for a predetermined time or longer by the superimposition display control unit, the superimposition display is performed while changing the display position of the infrared image according to the detected vibration. Control. In this way, in the image display device, when a display deviation that exceeds the sensory tolerance occurs due to vehicle vibration, the infrared image is displayed in a superimposed manner by shifting the deviation of the infrared image by the vibration, and the display deviation of the infrared image with respect to the actual scene is suppressed. Thereby, even when the vehicle vibrates, it is possible to visually recognize the infrared image, and the driver can visually recognize the infrared image and the actual scene. In addition, the driver does not cause display sickness due to display deviation.

  An image display device according to the present invention is an image display device that is mounted on a vehicle and superimposes and displays an infrared image captured by an infrared camera on a real scene, and includes a vibration detection unit that detects vibrations received by the vehicle, and an infrared camera. A camera direction control means for controlling the direction of the vibration, and the camera direction control means detects the direction of the vibration detected by the vibration detection means when the vibration detected by the vibration detection means continues for a predetermined time or longer. The direction of the infrared camera is changed along the line.

  In this image display device, the vibration detected by the vehicle is detected by the vibration detection means. In the image display device, when the state in which the detected vibration is equal to or greater than the vibration threshold continues for a predetermined time or longer by the camera direction control means, the image is captured while changing the direction of the infrared camera along the detected vibration direction. . Further, in the image processing apparatus, an infrared image obtained by the infrared camera whose direction is changed is superimposed and displayed on the actual scene. In this way, in the image display device, when a display deviation that exceeds sensory tolerance occurs due to vehicle vibration, the direction of the infrared camera is changed along the direction of vibration, and the infrared image obtained by the infrared camera is compared with the actual scene. Reducing display misalignment. Thereby, even when the vehicle vibrates, it is possible to visually recognize the infrared image, and the driver can visually recognize the infrared image and the actual scene. In addition, the driver does not cause display sickness due to display deviation.

  An image display apparatus according to the present invention is an image display apparatus that is mounted on a vehicle and displays an infrared image captured by an infrared camera on a real scene, and includes a lateral movement detection unit that detects lateral movement of the vehicle. A superimposition display control means for controlling the superimposition display of the infrared image, and the superimposition display control means, when the parameter indicating the lateral movement detected by the lateral movement detection means is equal to or greater than the lateral movement threshold, The superimposed display is controlled so as to be less visible than usual.

  In this image display device, lateral movement of the vehicle is detected by lateral movement detection means. In the image display device, the superimposed display control means controls the superimposed display so that the infrared image is less visible than usual when the parameter indicating the detected lateral movement is equal to or greater than the lateral movement threshold. The lateral movement threshold is a determination criterion for determining whether or not the display delay exceeds the sensory allowance when a display shift occurs in the infrared image superimposed on the actual scene due to turning of the vehicle. As described above, in the image display device, when an infrared image is delayed due to turning of the vehicle with respect to the actual scene, the superimposed infrared image becomes difficult to see, and the infrared image with the display delay becomes a driver's attraction. To suppress. Thereby, the driver can reduce the troublesomeness caused by the infrared image (attracting stimulus), and the direct view by the actual scene in the turning direction can be ensured and can be visually recognized by the actual scene.

  In the above image display device of the present invention, the superimposed display control means is configured to lower the brightness of the infrared image from the normal time when the parameter representing the lateral movement detected by the lateral movement detection means is equal to or greater than the lateral movement threshold. It is good.

  In the superimposed display control means of this image display device, the brightness of the infrared image is decreased from the normal time in order to make the infrared image less visible than normal. The degree of reduction is such that an infrared image with a delay in display does not cause an attractive stimulus.

  In the image display device of the present invention, the superimposed display control means may be configured to stop the superimposed display of the infrared image when the parameter indicating the lateral movement detected by the lateral movement detecting means is equal to or greater than the lateral movement threshold. Good.

  In the superimposed display control means of this image display device, the superimposed display of the infrared image is stopped in order to make the infrared image less visible than usual. In this case, only an actual scene is obtained, and the infrared image does not become an attractive stimulus.

  In the image display device of the present invention, the parameter representing the lateral movement is an angular velocity.

  In this image display device, the parameter representing the lateral movement can be easily obtained by using the angular velocity as the parameter representing the lateral movement and using the steering angle, the vehicle speed, the yaw rate, or the like.

  According to the present invention, even when the behavior of the vehicle changes, it is possible to suppress a decrease in the visibility of the driver due to the superimposed display of the infrared image.

  Embodiments of an image display device according to the present invention will be described below with reference to the drawings.

  In the present embodiment, the image display device according to the present invention is applied to a night vision device mounted on a vehicle. The night vision apparatus according to the present embodiment superimposes and displays a near-infrared image captured by a near-infrared camera on a real scene in order to assist the driver in situations where it is difficult to see with the naked eye, such as running at night. In the present embodiment, there are six embodiments having different processes for suppressing a reduction in the visibility of the driver due to the superimposed display of near-infrared images, and the first to fifth embodiments are intense in the vehicle. It is a form which shows the suppression process at the time of receiving a vibration, and 6th Embodiment is a form which shows the suppression process when a vehicle turns rapidly.

  With reference to FIGS. 1-4, the night vision apparatus 1 which concerns on this Embodiment is demonstrated. FIG. 1 is a configuration diagram of a night vision device according to first to fifth embodiments. FIG. 2 is a diagram illustrating the relationship between the vibration frequency and the sensory permissible relative amount with respect to the display shift due to vibration according to the first to fifth embodiments. FIG. 3 is a diagram showing the relationship between the vibration amplitude and the sensory allowable relative amount with respect to the display deviation due to vibration according to the first to fifth embodiments. FIG. 4 is a diagram showing the relationship between the continuous time of vibration condition establishment exceeding the sensory allowance according to the first to fifth embodiments and the sensory allowable relative amount with respect to display deviation due to vibration.

  The night vision device 1 is a night-vision device using near infrared rays, and displays a near-infrared image (near-infrared image) night-viewed on a real scene in an overlapping manner. In particular, in the night vision device 1, in order to prevent the driver's visibility from being reduced due to the display deviation of the near-infrared image when the vehicle is subjected to vibration, it is close when vibration exceeding the sensory allowance is detected. Stop superimposing the infrared image. The night vision device 1 includes a near-infrared projector 2, a near-infrared camera 3, a vehicle vibration sensor 4, an illuminance sensor 5, a headlight switch 6, a night vision switch 7, a head-up display 8, and a display control device 9.

  In the first embodiment, the near-infrared camera 3 corresponds to the infrared camera described in the claims, and the processing in the vehicle vibration sensor 4 and the display control device 9 is the vibration detection means described in the claims. The display control device 9 corresponds to the superimposed display control means described in the claims.

  The near-infrared projector 2 is disposed at the front end of the vehicle and attached toward the front of the vehicle. The near-infrared projector 2 irradiates near-infrared rays in front of the vehicle. Further, the near-infrared projector 2 has a function capable of changing the irradiation direction in the vertical direction and the horizontal direction. When receiving the irradiation direction control signal from the display control device 9, the near-infrared projector 2 changes the irradiation direction so as to be at an angle with the direction indicated by the irradiation direction control signal. Moreover, the near-infrared light projector 2 has a function capable of changing the power of the near-infrared light to be irradiated. When receiving the power control signal from the display control device 9, the near-infrared projector 2 changes the power so that the power indicated by the power control signal is obtained. Normally, the irradiation direction of the near-infrared projector 2 is set to the reference direction (the direction of the imaging region of the near-infrared camera 3), and the power of the near-infrared projector 2 is set to the reference power (maximum power).

  The near-infrared camera 3 is disposed on the front side of the vehicle and attached toward the front of the vehicle. The near-infrared camera 3 takes in near-infrared light (such as reflected light of near-infrared light from the near-infrared projector 2) and generates a near-infrared image based on the intensity of the near-infrared light. Further, the near-infrared image is composed of a near-infrared image of a frame every certain time (for example, 1/30 second). The near-infrared camera 3 transmits near-infrared image information of each frame to the display control device 9 as a near-infrared image signal at regular intervals. The near-infrared camera 3 has a tilt function in the vertical direction and the horizontal direction. When the near-infrared camera 3 receives the tilt control signal from the display control device 9, the imaging direction is changed according to the tilt direction, the tilt angle range, and the tilt frequency indicated by the tilt control signal. Usually, the imaging direction of the near-infrared camera 3 is fixed to the reference direction.

  The vehicle vibration sensor 4 is a sensor that detects the amount of movement of the vehicle in the vertical direction and the amount of vibration in the left-right direction at regular intervals. The vehicle vibration sensor 4 transmits information of each detected movement amount to the display control device 9 as a vibration signal at regular time intervals.

  The illuminance sensor 5 is a sensor that detects illuminance outside the vehicle. The illuminance sensor 5 transmits the detected illuminance as an illuminance signal to the display control device 9.

  The headlight switch 6 is a switch for selecting a mode (high mode, low mode, small mode) when the driver turns the headlight on / off and on. The headlight switch 6 transmits the selected switch information to the display control device 9 as a headlight signal.

  The night vision switch 7 is a switch for selecting ON / OFF of the night vision device 1 by the driver. The night vision switch 7 transmits the selected switch information to the display control device 9 as a night vision signal.

  The head-up display 8 includes a projector (not shown) and a combiner (not shown). In the projector, every time a display signal is received from the display control device 9, a display image corresponding to the near-infrared image is generated on the liquid crystal panel, and the display image is projected toward the combiner. The combiner diffracts the projected display image toward the driver's eyes. Then, to the driver, the displayed image appears to float forward by a predetermined distance. In particular, the head-up display 8 has a function of displaying the displayed image so as to be superimposed on the actual scene on a one-to-one basis. When an object is present in front of the vehicle, the head-up display 8 is the same as the object. The object image of the size is displayed in a translucent state.

  The display control device 9 includes a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], an image processing device, and the like, and comprehensively controls the night vision device 1.

  The display control device 9 receives an illuminance signal from the illuminance sensor 5, a headlight signal from the headlight switch 6, and a night vision signal from the night vision switch 7 at regular intervals, and displays them based on information of each signal. It is determined whether the condition is satisfied. The display control device 9 performs superimposed display of the near infrared image when the display condition is satisfied, and does not perform superimposed display of the near infrared image when the display condition is not satisfied. The display conditions are such that ON is selected by the night vision switch 7 and the surroundings are so dark that night vision is necessary (ON is selected by the headlight switch 6 and the illuminance is a predetermined value or less).

  When the display condition is satisfied, the display control device 9 activates the near-infrared projector 2 and the near-infrared camera 3. The display control device 9 receives a near-infrared image signal from the near-infrared camera 3 at regular time intervals, and generates a display image composed of the luminance of each pixel from the near-infrared image information. Then, the display control device 9 transmits a display signal including image information for display to the head-up display 8 at regular intervals.

  When the near-infrared image is superimposed and displayed, the display control device 9 receives a vibration signal from the vehicle vibration sensor 4 at regular time intervals, and calculates the vertical movement amount and the horizontal movement amount at regular time intervals. Remember. Then, the display control device 9 calculates the frequency and amplitude of the vibration in the vertical direction from the stored amount of movement in the up and down direction at regular time intervals, and calculates the left and right direction from the stored amount of movement in the left and right direction at regular time intervals. Calculate the frequency and amplitude of vibration in the direction.

  The display control device 9 determines whether or not the vibration frequency in the vertical direction or the vibration frequency in the left and right direction exceeds the frequency threshold value at regular time intervals. FIG. 2 shows a sensory experiment in which a near-infrared image superimposed with a real scene is shown to a large number of subjects when vibrations of various frequencies are applied to a vehicle in which the night vision device is activated. The results are shown. As can be seen from FIG. 2, the sensory permissible relative amount decreases as the vibration frequency increases (the display deviation changes faster) and the sensory permissible relative amount becomes 0 (when the display deviation is uncomfortable). The threshold is used. This sensory tolerance threshold is a frequency threshold.

  When the vibration frequency exceeds the frequency threshold value, the display control device 9 determines whether or not the vibration amplitude in the vertical direction or the vibration amplitude in the left and right direction exceeds the amplitude threshold value at regular time intervals. FIG. 3 shows a sensory experiment in which a near-infrared image superimposed with a real scene is shown to a large number of subjects when vibrations of various amplitudes are given to a vehicle in which the night vision device is activated. The results are shown. As can be seen from FIG. 3, the sensory permissible relative amount decreases as the vibration amplitude increases (the display deviation increases), and the sensory permissible relative amount becomes 0 (when the display deviation is uncomfortable) as the sensory permissible threshold. Yes. This sensory tolerance threshold is an amplitude threshold.

  When the vibration frequency exceeds the frequency threshold value and the vibration amplitude exceeds the amplitude threshold value, the display control device 9 is in a state where the vibration frequency exceeds the frequency threshold value and the vibration amplitude exceeds the amplitude threshold value (vibration) at regular intervals. The continuous time during which the condition is satisfied is counted. Then, the display control device 9 determines whether or not the counted continuous time exceeds the time threshold. FIG. 4 shows a near-infrared image superimposed on a real scene for a large number of subjects when the continuous time in which vibrations having a frequency and amplitude exceeding the sensory permissible threshold are applied to the vehicle in which the night vision device is activated is changed. The result of the sensory experiment when showing As can be seen from FIG. 4, the longer the time for which vibration is continuously applied (the longer the severe display deviation lasts), the smaller the permissible sensory relative amount becomes 0, and the permissible sensory relative amount becomes zero (the display discomfort is uncomfortable). Is the sensory tolerance threshold. This sensory tolerance threshold is a time threshold.

  When the continuous time when the vibration condition is satisfied exceeds the time threshold, the display control device 9 stops the near-infrared image superposition display. As a method of stopping, transmission of the display signal to the head-up display 8 is stopped, display image information in which the luminance of all the pixels is 0 is generated, and the display signal of the image information is transmitted to the head-up display 8. Alternatively, a display stop signal is transmitted to the head-up display 8. Note that when the near-infrared image superimposition display is stopped, the brightness of the near-infrared image may be gradually reduced so that the near-infrared image gradually disappears.

  The operation of the night vision device 1 will be described with reference to FIG. In particular, the processing in the display control device 9 will be described along the flowchart of FIG. FIG. 5 is a flowchart showing a flow of processing in the display control apparatus according to the first embodiment.

  The display control device 9 acquires illuminance information from the illuminance sensor 5, headlight ON / OFF information from the headlight switch 6, and ON / OFF information of the night vision device 1 from the night vision switch 7. Whether or not the display condition is satisfied is determined based on the above. When the display condition is satisfied, the display control device 9 activates the near-infrared projector 2 and the near-infrared camera 3. The near-infrared projector 2 irradiates near-infrared rays in front of the vehicle. The near-infrared camera 3 takes near-infrared light to form a near-infrared image, and transmits a near-infrared image signal of the near-infrared image information of each frame to the display control device 9 at regular time intervals. Then, the display control device 9 generates a display image based on the near-infrared image information from the near-infrared camera 3 at regular intervals, and transmits a display signal to the head-up display 8 (S1). When this display signal is received, the head-up display 8 converts the image into a display image for displaying the actual scene on a one-to-one basis, and superimposes the displayed image on the actual scene. This display image is updated at regular intervals and becomes a video. In addition to the actual scene, the driver sees a near infrared image (near infrared image) superimposed on the actual scene.

  Subsequently, the display control device 9 acquires movement amount information in the vertical direction and the horizontal direction from the vehicle vibration sensor 4 at regular time intervals. The display control device 9 calculates the vibration frequencies of the vehicle in the vertical direction and the horizontal direction from the movement amounts in the vertical direction and the horizontal direction (S2). Then, the display control device 9 determines whether or not each vibration frequency exceeds a frequency threshold value (S3). When it determines with each vibration frequency not exceeding the frequency threshold value in S3, the display control apparatus 9 returns to the process of S1. On the other hand, if it is determined in S3 that one of the vibration frequencies exceeds the frequency threshold value, the display control device 9 calculates the vibration amplitudes in the vertical direction and the horizontal direction of the vehicle from the movement amounts in the vertical direction and the horizontal direction. Calculate (S4). Then, the display control device 9 determines whether or not each vibration amplitude exceeds an amplitude threshold value (S5). When it is determined in S5 that each vibration amplitude does not exceed the amplitude threshold value, the display control device 9 returns to the process of S1. On the other hand, when it is determined in S5 that any vibration amplitude exceeds the amplitude threshold value, the display control device 9 counts the continuous time in which this vibration condition is satisfied (S6). Then, the display control device 9 determines whether or not the continuous time exceeds the time threshold (S7). If it is determined in S7 that the continuous time does not exceed the time threshold, the display control device 9 returns to the process of S1.

  When it is determined in S7 that the continuous time exceeds the time threshold value (that is, when a display shift that exceeds the sensory tolerance is caused by intense vibration), the display control device 9 applies the head-up display 8 to the head-up display 8. Transmission of the display signal is stopped (S8), and the process proceeds to S2. Then, the head-up display 8 stops the superimposed display of the near-infrared image. As a result, the driver sees only the actual scene.

  According to this night vision device 1, when a display shift that exceeds the sensory tolerance occurs due to vibrations received by the vehicle, the near-infrared image itself is removed from the actual scene by stopping the superimposed display of the near-infrared image. As a result, a sense of incongruity due to display deviation is eliminated, and the driver can visually recognize the actual scene.

  With reference to FIGS. 1-4, the night vision apparatus 11 which concerns on 2nd Embodiment is demonstrated. In the night vision device 11, the same reference numerals are given to the same components as those of the night vision device 1 according to the first embodiment, and the description thereof is omitted.

  The night vision device 11 is the same device as the night vision device 1, but has a different method for suppressing the driver's visibility from being lowered due to a display shift of the near-infrared image when the vehicle receives vibration. . The night vision device 11 tilts the near-infrared camera 3 in accordance with the vibration when a vibration exceeding sensory tolerance is detected. The night vision device 11 includes a near-infrared projector 2, a near-infrared camera 3, a vehicle vibration sensor 4, an illuminance sensor 5, a headlight switch 6, a night vision switch 7, a head-up display 8, and a display control device 19.

  In the second embodiment, the near-infrared camera 3 corresponds to the infrared camera described in the claims, and the processing in the vehicle vibration sensor 4 and the display control device 19 is the vibration detection means described in the claims. The display control device 19 corresponds to the camera direction control means described in the claims.

  The display control device 19 is the same device as the display control device 9 according to the first embodiment, but only the processing for suppressing the driver's visibility from being lowered is different. Only the different processing will be described here.

  When the continuous time in the state where the vibration condition is satisfied exceeds the time threshold, the display control device 19 predicts the vibration that the vehicle will receive from now on the basis of the detected vibration frequency and vibration amplitude. Then, the display control device 19 calculates the tilt direction, tilt angle range, and tilt frequency of the camera from the vibration prediction so that the imaging direction of the near-infrared camera 3 changes according to the vibration received by the vehicle. Further, the display control device 19 transmits a tilt control signal indicating the tilt direction, tilt angle range, and tilt frequency to the near-infrared camera 3.

  The operation of the night vision device 11 will be described with reference to FIG. In particular, the processing in the display control device 19 will be described with reference to the flowchart of FIG. FIG. 6 is a flowchart showing the flow of processing in the display control apparatus according to the second embodiment.

  The night vision device 11 is the same as the night vision device 1 with respect to operations other than the operation for suppressing the driver's visibility from being reduced due to the display shift of the near-infrared image when the vehicle receives vibration. I do. At this time, the display control device 19 performs the same processing as S1 to S7 of the display control device 9 for the processing of S11 to S17.

  When it is determined in S17 that the continuous time exceeds the time threshold value, the display control device 19 predicts the vibration that the vehicle receives at regular time intervals, and the tilt direction, tilt angle range, and tilt according to the vibration prediction. A tilt control signal indicating the frequency is transmitted to the near-infrared camera 3 (S18), and the process returns to S12. When the tilt control signal is received, the near-infrared camera 3 tilts the imaging direction to the tilt direction, tilt angle range, and tilt frequency (that is, while changing the camera direction according to the vibration received by the vehicle). , Image. The near-infrared camera 3 transmits a near-infrared image signal to the display control device 19 at regular intervals. The display control device 19 generates a display image based on near-infrared image information from the near-infrared camera 3 at regular intervals, and transmits a display signal to the head-up display 8. When this display signal is received, the head-up display 8 superimposes the display image on the actual scene. This display image is updated at regular intervals and fluctuates in accordance with the vibration received by the vehicle. In addition to the actual scene, the driver sees a near-infrared image superimposed on the actual scene. Since this near-infrared image fluctuates in the same manner as the direction, frequency, and amplitude of vibration received by the vehicle, there is little deviation from the actual scene.

  According to this night vision device 11, when a display shift that exceeds the sensory tolerance occurs due to vibrations received by the vehicle, the near infrared camera 3 is tilted in accordance with the vibrations to display the near infrared image on the actual scene. Deviation can be reduced. As a result, the uncomfortable feeling due to the display shift is reduced, and the driver can visually recognize the actual scene and the near-infrared image. Therefore, the driver can visually recognize an object that is difficult to see with the naked eye even in such a situation.

  With reference to FIGS. 1-4, the night vision apparatus 21 which concerns on 3rd Embodiment is demonstrated. In the night vision device 21, the same reference numerals are given to the same components as those of the night vision device 1 according to the first embodiment, and the description thereof is omitted.

  The night vision device 21 is the same device as the night vision device 1, but has a different method for suppressing a driver's visibility from being reduced due to a display shift of a near-infrared image when the vehicle receives vibration. . In the night vision device 21, when a vibration exceeding sensory tolerance is detected, the near-infrared image to be superimposed is subjected to image processing so as to eliminate the display deviation. The night vision device 21 includes a near infrared projector 2, a near infrared camera 3, a vehicle vibration sensor 4, an illuminance sensor 5, a headlight switch 6, a night vision switch 7, a head-up display 8, and a display control device 29.

  In the third embodiment, the near-infrared camera 3 corresponds to the infrared camera described in the claims, and the processing in the vehicle vibration sensor 4 and the display control device 29 is the vibration detection means described in the claims. The display control device 29 corresponds to the superimposed display control means described in the claims.

  The display control device 29 is the same device as the display control device 9 according to the first embodiment, but only the processing for suppressing the driver's visibility from being lowered is different. Only the different processing will be described here.

  When the continuous time in the state where the vibration condition is satisfied exceeds the time threshold, the display control device 29 extracts a region where display displacement occurs from the display image, and displays the display displacement amount with respect to the extracted region. Image processing is performed to eliminate the problem. Then, the display control device 29 transmits a display signal composed of display image information including the region corrected by the image processing to the head-up display 8.

  The operation of the night vision device 21 will be described with reference to FIG. In particular, processing in the display control device 29 will be described with reference to the flowchart of FIG. FIG. 7 is a flowchart showing a flow of processing in the display control apparatus according to the third embodiment.

  The night vision device 21 is the same as the night vision device 1 with respect to operations other than the operation for suppressing the driver's visibility from being lowered due to the display shift of the near-infrared image when the vehicle is vibrated. I do. At this time, the display control device 29 performs the same processing as S1 to S7 of the display control device 9 for the processing of S21 to S27.

  When it is determined in S27 that the continuous time exceeds the time threshold, the display control device 29 performs image processing for correcting the display deviation for a region where the display deviation occurs with respect to the display image at regular time intervals. The display signal composed of the corrected image information for display is transmitted to the head-up display 8 (S28), and the process returns to S22. When this display signal is received, the head-up display 8 superimposes the display image on the actual scene. This display image is updated every fixed time and is an image in which the display deviation is corrected. In addition to the actual scene, the driver sees a near-infrared image superimposed on the actual scene. In this near-infrared image, since the display deviation is corrected in the area where the display deviation occurs, the deviation from the actual scene is small.

  According to this night vision device 21, when a display shift that exceeds the sensory tolerance occurs due to vibrations received by the vehicle, the display shift relative to the actual scene is corrected by the near-infrared image by correcting the near-infrared image by display processing. Can be reduced. As a result, the uncomfortable feeling due to the display shift is reduced, and the driver can visually recognize the actual scene and the near-infrared image.

  With reference to FIGS. 1-4, the night vision apparatus 31 which concerns on 4th Embodiment is demonstrated. In the night vision device 31, the same reference numerals are given to the same components as those of the night vision device 1 according to the first embodiment, and the description thereof is omitted.

  The night vision device 31 is the same device as the night vision device 1, but the method for suppressing the driver's visibility from being lowered due to the display shift of the near-infrared image when the vehicle receives vibration is different. . The night vision device 31 reduces the power of near-infrared light to be irradiated when vibration that exceeds sensory tolerance is detected. The night vision device 31 includes a near-infrared projector 2, a near-infrared camera 3, a vehicle vibration sensor 4, an illuminance sensor 5, a headlight switch 6, a night vision switch 7, a head-up display 8, and a display control device 39.

  In the fourth embodiment, the near-infrared camera 3 corresponds to the infrared camera described in the claims, and the processing in the vehicle vibration sensor 4 and the display control device 39 is the vibration detection means described in the claims. The display control device 39 corresponds to the superimposed display control means described in the claims.

  The display control device 39 is the same device as the display control device 9 according to the first embodiment, but only the processing for suppressing the driver's visibility from being lowered is different. Only the different processing will be described here.

  When the continuous time when the vibration condition is satisfied exceeds the time threshold, the display control device 39 transmits a power control signal set to the minimum power to the near-infrared projector 2.

  The operation of the night vision device 31 will be described with reference to FIG. In particular, processing in the display control device 39 will be described with reference to the flowchart of FIG. FIG. 8 is a flowchart showing the flow of processing in the display control apparatus according to the fourth embodiment.

  The night vision device 31 is the same as the night vision device 1 with respect to operations other than the operation for suppressing the driver's visibility from being lowered due to the display shift of the near-infrared image when the vehicle is vibrated. I do. At this time, the display control device 39 performs the same processing as S1 to S7 of the display control device 9 for the processing of S31 to S37.

  If it is determined in S37 that the continuous time exceeds the time threshold, the display control device 39 transmits a power control signal set to the minimum power to the near-infrared projector 2 (S38), and returns to the processing of S32. When receiving this power control signal, the near-infrared projector 2 irradiates near-infrared light with the lowest power. The near-infrared camera 3 takes in near-infrared light to form a near-infrared image, and transmits a near-infrared image signal of near-infrared image information of each frame to the display control device 39 at regular intervals. At this time, since the near-infrared power from the near-infrared projector 2 is at the lowest level, the near-infrared image from the near-infrared camera 3 is an image with very low brightness. The display control device 39 generates a display image based on near-infrared image information from the near-infrared camera 3 and transmits a display signal to the head-up display 8 at regular time intervals. When this display signal is received, the head-up display 8 superimposes the display image on the actual scene. This display image is an image with very low luminance, and is an image that can hardly be seen with the naked eye. As a result, the driver sees only the actual scene.

  According to this night vision device 31, when a display deviation that exceeds the sensory tolerance occurs due to vibration received by the vehicle, the near-infrared image to be superimposed cannot be visually recognized by reducing the power of the irradiated near-infrared light. The image is as shown. As a result, there is almost no sense of incongruity due to display deviation, and the driver can visually recognize the actual scene.

  With reference to FIGS. 1-4, the night vision apparatus 41 which concerns on 5th Embodiment is demonstrated. In the night vision device 41, the same reference numerals are given to the same configurations as those of the night vision device 1 according to the first embodiment, and the description thereof is omitted.

  The night vision device 41 is the same device as the night vision device 1, but has a different method for suppressing the driver's visibility from being lowered due to the display shift of the near infrared image when the vehicle receives vibration. . The night vision device 41 disperses the near-infrared rays to be irradiated when vibrations exceeding sensory tolerance are detected. The night vision device 41 includes a near-infrared projector 2, a near-infrared camera 3, a vehicle vibration sensor 4, an illuminance sensor 5, a headlight switch 6, a night vision switch 7, a head-up display 8, and a display control device 49.

  In the fifth embodiment, the near-infrared camera 3 corresponds to the infrared camera described in the claims, and the processing in the vehicle vibration sensor 4 and the display control device 49 is the vibration detection means described in the claims. The display control device 49 corresponds to the superimposed display control means described in the claims.

  The display control device 49 is the same device as the display control device 9 according to the first embodiment, but only the process for suppressing the driver's visibility from being lowered is different. Only the different processing will be described here.

  When the continuous time when the vibration condition is satisfied exceeds the time threshold, the display control device 49 detects a region where a display deviation occurs from the display image, and determines the irradiation direction and the irradiation angle dispersed from the region. The irradiation direction control signal is set and transmitted to the near infrared projector 2.

  The operation of the night vision device 41 will be described with reference to FIG. In particular, processing in the display control device 49 will be described with reference to the flowchart of FIG. FIG. 9 is a flowchart showing a flow of processing in the display control apparatus according to the fifth embodiment.

  The night vision device 41 is the same as the night vision device 1 with respect to operations other than the operation for suppressing the driver's visibility from being reduced due to the display shift of the near-infrared image when the vehicle receives vibration. I do. At this time, the display control device 49 performs the same processing as S1 to S7 of the display control device 9 for the processing of S41 to S47.

  When it is determined in S47 that the continuous time exceeds the time threshold, the display control device 49 detects an area where a display deviation occurs from the display image, and sets an irradiation direction and an irradiation angle that are dispersed from the area. The irradiation direction control signal is set and transmitted to the near-infrared projector 2 (S48), and the process returns to S42. When the irradiation direction control signal is received, the near-infrared projector 2 changes the irradiation direction of the near-infrared so as to be the irradiation direction and the irradiation angle, and irradiates the near-infrared light to the region other than the region where the display deviation occurs. The near-infrared camera 3 takes near-infrared light to form a near-infrared image, and transmits a near-infrared image signal of near-infrared image information of each frame to the display control device 49 at regular time intervals. At this time, since the near-infrared image is not irradiated to the area where the display deviation occurs, the near-infrared image by the near-infrared camera 3 is an image of only the area where the display deviation does not occur. The display control device 49 generates a display image based on near-infrared image information from the near-infrared camera 3 and transmits a display signal to the head-up display 8 at regular time intervals. When this display signal is received, the head-up display 8 superimposes the display image on the actual scene. This display image is an image in which a region in which a display shift occurs with respect to a real scene is excluded even though the vehicle is subjected to vibration. As a result, the driver sees only the real scene in the area where the display deviation occurs, and sees the real scene and the near-infrared image in the area where the display deviation does not occur.

  According to this night vision device 41, when a display deviation that exceeds the sensory tolerance occurs due to vibrations received by the vehicle, the near-infrared image is displayed from the near-infrared image by dispersing and irradiating from the region where the display deviation occurs. Remove the area where the shift occurs. As a result, there is no sense of incongruity due to the display deviation, and the driver can visually recognize the area where the display deviation occurs only by the actual scene.

  With reference to FIG. 10, the night vision apparatus 51 according to the present embodiment will be described. FIG. 10 is a configuration diagram of the night vision device according to the sixth embodiment. In the night vision device 51, the same reference numerals are given to the same components as those of the night vision device 1 according to the first embodiment, and the description thereof is omitted.

  The night vision device 51 is a night vision device using near-infrared rays, and displays a near-infrared image night-visioned on a real scene in an overlapping manner. In particular, in the night vision device 51, in order to prevent the driver's visibility from being reduced due to the delay in displaying the near-infrared image when the vehicle turns sharply, a lateral angular velocity exceeding the sensory tolerance is detected. Sometimes the near-infrared image superposition display is stopped. The night vision device 51 includes a near infrared projector 2, a near infrared camera 3, a steering angle sensor 52, a vehicle speed sensor 53, an illuminance sensor 5, a headlight switch 6, a night vision switch 7, a head-up display 8, and a display control device 59. ing.

  In the sixth embodiment, the near-infrared camera 3 corresponds to the infrared camera described in the claims, and the processing in the steering angle sensor 52, the vehicle speed sensor 53, and the display control device 9 is described in the claims. The display control device 59 corresponds to the superimposed display control means described in the claims.

  The steering angle sensor 52 is a sensor that detects a steering angle. The steering angle sensor 52 transmits the detected steering angle to the display control device 59 as a steering angle signal. The vehicle speed sensor 53 is a sensor that detects the vehicle speed. The vehicle speed sensor 53 transmits the detected vehicle speed to the display control device 59 as a vehicle speed signal.

  The display control device 59 includes a CPU, a ROM, a RAM, an image processing device, and the like, and comprehensively controls the night vision device 1. The display control device 59 performs the same processing as the display control device 9 according to the first embodiment for the display condition determination processing and the near-infrared image display processing.

  When the near-infrared image is superimposed and displayed, the display control device 59 receives the steering angle signal from the steering angle sensor 52 and the vehicle speed signal from the vehicle speed sensor 53 at regular intervals, and determines the steering angle at regular intervals. Memorize the vehicle speed. Then, the display control device 59 calculates the angular velocity in the lateral direction of the vehicle from the stored steering angle and vehicle speed at regular intervals.

  The display control device 9 determines whether or not the angular velocity exceeds the angular velocity threshold at regular time intervals. The angular velocity threshold is set based on a sensory experiment in which a near-infrared image superimposed with a real scene is shown to a large number of subjects when a vehicle that has activated a night vision device is turned at various angular velocities. . The greater the angular velocity (the more severe the display delay), the smaller the permissible sensory relative amount and the permissible sensory relative amount becomes 0 (the near-infrared image becomes unrecognizable due to the display delay, or the near-infrared image becomes an attractive stimulus. Is the sensory tolerance threshold. This sensory tolerance threshold is an angular velocity threshold.

  When the angular velocity exceeds the angular velocity threshold, the display control device 59 sets display image information in which a luminance value obtained by gradually reducing the luminance of all pixels from the near-infrared image from the near-infrared camera 3 is set every predetermined time. And the display signal is transmitted to the head-up display 8. This process is performed until the luminance value becomes 0 (that is, until the near-infrared image superposition display is stopped).

  The operation of the night vision apparatus 51 will be described with reference to FIG. In particular, processing in the display control device 59 will be described with reference to the flowchart of FIG. FIG. 11 is a flowchart showing the flow of processing in the display control apparatus according to the sixth embodiment.

  The night vision device 51 performs the same operation as that of the night vision device 1 with respect to the display condition determination and the near infrared image superimposed display operation when the display condition is satisfied. At this time, the display control device 59 performs the same processing as S1 of the display control device 9 for the processing of S51.

  The display control device 59 acquires the steering angle information from the steering angle sensor 52 and the vehicle speed information from the vehicle speed sensor 53 at regular intervals. The display control device 59 calculates the angular velocity of the vehicle from the steering angle and the vehicle speed (S52). Here, when the vehicle is turning at an intersection, a sharp curve, or the like, the angular velocity is a large value. Then, the display control device 59 determines whether or not the angular velocity exceeds the angular velocity threshold (S53). If it is determined in S53 that the angular velocity does not exceed the angular velocity threshold, the display control device 59 returns to the processing in S51.

  When it is determined in S53 that the angular velocity exceeds the angular velocity threshold value (that is, when a display delay that exceeds the sensory allowance occurs due to a sudden turn of the vehicle), the display control device 59 performs a constant time interval. Until the luminance value becomes 0, a display image in which the luminance value is gradually reduced is generated from the near-infrared image from the near-infrared camera 3, the display signal is transmitted to the head-up display 8 (S54), and the process of S52 Return to. When this display signal is received, the head-up display 8 superimposes the display image on the actual scene. This display image is updated at regular intervals, gradually becomes an image with a low luminance, and eventually disappears. As a result, the driver concentrates on the actual scene in the traveling direction, and the direct field of view is secured.

  According to the night vision device 51, when a display delay exceeding the sensory tolerance occurs due to a sudden turn of the vehicle, the near-infrared image itself is removed from the actual scene by stopping the superimposed display of the near-infrared image. As a result, the trouble of attracting stimulation by a near-infrared image that does not cover the traveling direction is eliminated, and the driver can visually recognize the traveling direction with a real scene.

  As mentioned above, although embodiment which concerns on this invention was described, this invention is implemented in various forms, without being limited to the said embodiment.

  For example, in the present embodiment, near infrared is applied as infrared, but infrared other than near infrared may be used as infrared, and when using far infrared, it is difficult to see the superimposed display. Just change. As a method of changing the wavelength sensitivity region of the far-infrared camera, for example, by changing the sensitivity of the far-infrared camera toward the near-infrared wavelength region, it cannot be used as a far-infrared camera, and the far-infrared image to be superimposed is difficult to see. Become.

  In this embodiment, a near-infrared projector with a variable irradiation direction and a near-infrared camera with a variable imaging direction are used. However, when the irradiation direction and imaging direction are not changed by control, a near-infrared projector with a fixed irradiation direction is also used. Alternatively, a near-infrared camera with a fixed imaging direction may be used.

  In the present embodiment, the night vision device having a process for suppressing a decrease in the visibility of the driver due to the superimposed display of the near-infrared image is separately provided when the vehicle receives vibration and when the vehicle turns. Although comprised, you may comprise the night vision apparatus which has the suppression process of both the case where a vehicle receives a vibration and the case where a vehicle turns.

  In this embodiment, the near-infrared image is superimposed and displayed when the three conditions of illuminance, headlight ON / OFF, and night vision device ON / OFF are satisfied. Only OFF may be set as the display condition, or other conditions may be taken into consideration.

  In the first to fifth embodiments, the vibration frequency and the vibration amplitude are both set to exceed the threshold value. However, either one of the vibration frequencies and the vibration amplitude may exceed the threshold value. The condition may be that the parameter exceeds the threshold value.

  In the first and sixth embodiments, the display of the near-infrared image is stopped in order to make the superimposed display of the infrared image more difficult to see than usual. However, the near-infrared image does not hinder the visual recognition of the actual scene. If so, a configuration may be adopted in which the luminance of the near-infrared image is reduced (for example, reduced to the lowest luminance) and superimposed display is performed.

  In the fourth embodiment, the near infrared power from the near infrared projector is reduced in order to make the superimposed display of the infrared image more difficult to see than usual. It is good also as a structure which stops.

  In the sixth embodiment, the angular velocity is applied as a parameter for the lateral movement of the vehicle, but other parameters such as angular acceleration may be applied. Further, although the vehicle speed sensor and the steering angle sensor are used to obtain the angular velocity, other means such as a gyro sensor, a GPS receiver, and a yaw rate sensor may be used.

It is a block diagram of the night vision apparatus which concerns on 1st-5th embodiment. It is a figure which shows the relationship between the vibration frequency which concerns on 1st-5th embodiment, and the sensory permissible relative amount with respect to the display shift by vibration. It is a figure which shows the relationship between the vibration amplitude which concerns on 1st-5th embodiment, and the sensory permissible relative amount with respect to the display shift by vibration. It is a figure which shows the relationship between the continuous time of the vibration condition establishment exceeding the sensory tolerance which concerns on 1st-5th embodiment, and the sensory tolerance relative quantity with respect to the display shift by vibration. It is a flowchart which shows the flow of a process in the display control apparatus which concerns on 1st Embodiment. It is a flowchart which shows the flow of a process in the display control apparatus which concerns on 2nd Embodiment. It is a flowchart which shows the flow of a process in the display control apparatus which concerns on 3rd Embodiment. It is a flowchart which shows the flow of a process in the display control apparatus which concerns on 4th Embodiment. It is a flowchart which shows the flow of a process in the display control apparatus which concerns on 5th Embodiment. It is a block diagram of the night vision apparatus which concerns on 6th Embodiment. It is a flowchart which shows the flow of a process in the display control apparatus which concerns on 6th Embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1,11,21,31,41,51 ... Night vision apparatus, 2 ... Near infrared projector, 3 ... Near infrared camera, 4 ... Vehicle vibration sensor, 5 ... Illuminance sensor, 6 ... Headlight switch, 7 ... Night vision switch , 8 ... Head-up display, 9, 19, 29, 39, 49, 59 ... Display control device, 52 ... Steering angle sensor, 53 ... Vehicle speed sensor

Claims (10)

An image display device mounted on a vehicle and displaying an infrared image captured by an infrared camera on a real scene,
Vibration detecting means for detecting vibrations received by the vehicle;
Superimposing display control means for controlling superimposing display of the infrared image,
The superimposing display control unit controls the superimposing display of the infrared image to be less visible than usual when the state in which the vibration detected by the vibration detecting unit is equal to or greater than a vibration threshold continues for a predetermined time. An image display device.   The superimposing display control means reduces the brightness of the infrared image from the normal time when a state in which the vibration detected by the vibration detection means has exceeded a vibration threshold value continues for a predetermined time. An image display device.   2. The image according to claim 1, wherein the superimposed display control unit stops the superimposed display of the infrared image when a state in which the vibration detected by the vibration detection unit is equal to or greater than a vibration threshold continues for a predetermined time. Display device.   The superimposed display control means adjusts the infrared camera so that the superimposed display of the infrared image is less visible than usual when the state in which the vibration detected by the vibration detecting means is equal to or greater than the vibration threshold continues for a predetermined time. The image display device according to claim 1. An image display device mounted on a vehicle and displaying an infrared image captured by an infrared camera on a real scene,
Vibration detecting means for detecting vibrations received by the vehicle;
Superimposing display control means for controlling superimposing display of the infrared image,
The superimposition display control means shifts and displays the superimposition display of the infrared image according to the vibration detected by the vibration detection means when the vibration detected by the vibration detection means continues for a predetermined time. An image display device. An image display device mounted on a vehicle and displaying an infrared image captured by an infrared camera on a real scene,
Vibration detecting means for detecting vibrations received by the vehicle;
Camera direction control means for controlling the orientation of the infrared camera,
The camera direction control means changes the direction of the infrared camera along the direction of vibration detected by the vibration detection means when a state in which the vibration detected by the vibration detection means has exceeded a vibration threshold value continues for a predetermined time. An image display device characterized in that An image display device mounted on a vehicle and displaying an infrared image captured by an infrared camera on a real scene,
Lateral movement detecting means for detecting lateral movement of the vehicle;
Superimposing display control means for controlling superimposing display of the infrared image,
The superimposition display control means controls the superimposition display of the infrared image to be less visible than usual when the parameter indicating the lateral movement detected by the lateral movement detection means is equal to or greater than a lateral movement threshold. A characteristic image display device.   8. The superimposed display control means, when the parameter representing the lateral movement detected by the lateral movement detecting means is equal to or greater than a lateral movement threshold, the brightness of the infrared image is lowered from the normal time. The image display device described in 1.   8. The superimposing display control unit stops superimposing display of an infrared image when a parameter indicating a lateral movement detected by the lateral movement detecting unit is equal to or greater than a lateral movement threshold value. An image display device.   The image display device according to any one of claims 7 to 90, wherein the parameter representing the movement in the horizontal direction is an angular velocity.

Images