JP2016071666A - Visual guidance device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To support drive itself of an occupant in a vehicle such as a motor car, because support of drive itself is potentially desired.SOLUTION: A visual guidance device 20 for a vehicle 1 comprises: a display member 30 for displaying a video on a windscreen 8 which allows seeing-through, so that an occupant M who rides on the vehicle 1 can view outside of the vehicle; a scenery information acquisition part 31 for acquiring information of a scenery which is viewed by the occupant M from inside of the vehicle 1; and a see-through position specification part 31 for specifying a see-through position on the windscreen 8 where a visual line of the occupant M who views an estimated track passes, based on the scenery information. The display member 30 displays plural travel reference marks 41, in a discrete state, along the estimated track of the vehicle 1, on the windscreen 8 based on the see-through position. The plural travel reference marks 41 are deviated on left and right sides of the estimated track with an interval equal to or wider than vehicle width of the vehicle 1, so that, the marks 41 seem to be overlapped to a side where the occupant desires to pull the vehicle 1 out of the right edge and left edge of the estimated track of the vehicle 1.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a line-of-sight guidance device for guiding the line of sight of an occupant in a vehicle such as an automobile.

  In recent automobiles, a navigation device that displays a guidance route on a liquid crystal display as in Patent Document 1 is installed, or a device that supports driving in an emergency by monitoring a traveling environment with various radars as in Patent Document 2. It is installed.

JP 2007-263839 A JP 2014-159249 A

However, automobiles are still traveling based on operations by passengers. While traveling, the occupant confirms safety outside the vehicle from the window of the windshield, etc., determines the confirmed status outside the vehicle, and operates the vehicle accordingly. In this case, the running stability and safety of the automobile are basically determined by the occupant's driving ability. Depending on the situation, the occupant moves to change the line of sight so as to check the front, diagonally forward, left and right, rearward, diagonally rear, etc. of the vehicle as appropriate, or while keeping the line of sight stable in a certain direction, drive.
Therefore, for safety, for example, even for beginners who do not know how to use the line of sight to check their surroundings while driving, the necessary safety checks outside the vehicle should be carried out appropriately, as with advanced users. Is required. In addition, a bus crew operating in a tired state is required to perform necessary safety checks in the same manner as a general crew member who is not tired. Further, even if the occupant tries to check the outside of the vehicle, it may be assumed that the surroundings are difficult to see due to heavy rain, and sufficient confirmation cannot be made. Even in such bad weather conditions, passengers are required to carry out necessary safety checks. In other words, even beginners who do not understand how to use their eyes while driving, perform necessary safety checks in the case of bad weather such as heavy rain at night and continue to drive appropriately and safely according to the situation Is required.

  As described above, in vehicles such as automobiles, there is a potential demand for assisting the occupants themselves, rather than presenting information on guide routes or assisting in emergency driving.

  The line-of-sight guidance device for a vehicle according to the present invention relates to a display member that displays an image on a windshield or a screen that can be seen through so that an occupant riding in the vehicle can visually recognize the outside of the vehicle, and a landscape that the occupant visually recognizes from within the vehicle. A scenery information acquisition unit that acquires the scenery information of the vehicle, and a perspective on the windshield or the screen through which a line of sight passes when the occupant visually recognizes an expected course where the vehicle is expected to pass based on the scenery information A fluoroscopy position specifying unit that specifies a position or a fluoroscopy position through which a right edge and a left edge of the expected course of the vehicle are fluoroscopically, and the display member is based on the fluoroscopic position, the windshield or the screen A plurality of travel reference marks discretely displayed along the predicted course of the vehicle, the plurality of travel reference marks being a right edge of the expected course of the vehicle And are offset to the left and right of the anticipated course at intervals corresponding to more than a vehicle width of the vehicle so as to be able to appear to overlap the side want asked the vehicle in the left edge.

  Preferably, when the predicted course is curved, the display member displays the plurality of travel reference marks on the outer side, the inner side, and the outer side of the predicted course in a curved portion of the predicted course. Good.

  Preferably, the display member has a pair of lane lines on the left and right sides of the predicted course at an interval corresponding to the vehicle width or more so that the display member can be seen to overlap the right and left edges of the predicted course. And the plurality of travel reference marks may be displayed overlapping or close to the pair of left and right lane lines.

In the present invention, the landscape information acquisition unit acquires the landscape information about the scenery that the occupant visually recognizes from within the vehicle, and the fluoroscopic position specifying unit indicates the expected course where the vehicle is expected to pass based on the landscape information. A perspective position on the windshield or the screen through which the line of sight passes or a right edge and a left edge of the predicted course of the vehicle are transparently identified. And a display member displays a some driving | running | working reference mark on a windshield or a screen discretely along the estimated course of a vehicle based on this fluoroscopic position. Further, the plurality of travel reference marks are shifted to the left and right of the expected course at intervals corresponding to the vehicle width of the vehicle. Thus, the occupant can see the plurality of traveling reference marks displayed on the windshield or the screen so as to overlap the right edge and the left edge of the expected course of the vehicle. The line of sight of the occupant can be guided to the expected course of the vehicle highlighted by a plurality of driving reference marks. The occupant can confirm the expected course that needs to be confirmed while driving. It is possible to confirm whether or not it is possible to travel safely by checking between a plurality of travel reference marks. Further, the display of a plurality of travel reference marks stabilizes the sight line of the occupant in the expected course, and as a result, the vehicle can travel stably. In addition, even after the occupant moves his / her line of sight in another direction, the line of sight can be easily and quickly returned to the desired predicted course. There is no need to look for the expected course when returning the line of sight.
In particular, the plurality of travel reference marks are shifted to the left and right of the predicted course at intervals corresponding to the vehicle width of the vehicle. For this reason, it becomes difficult for the occupant's eyes to concentrate on one point, and the direction of the expected course is easily observed as a whole. It becomes easy to confirm not only on the expected course but also on the left and right sides of the expected course. On the other hand, if, for example, one traveling reference mark is displayed on the predicted course, the occupant's eyes are likely to concentrate on that one point. As a result, even if the occupant's line of sight can be guided by one point of the travel reference mark, the consciousness is concentrated only on that one point, and it is difficult to observe the direction of the expected course as a whole. In particular, it becomes difficult to confirm the left and right safety of the predicted course that is slightly away from a single driving reference mark. In the present invention, it is difficult to cause such mislead.
Furthermore, in the present invention, the plurality of driving reference marks are larger than the vehicle width of the vehicle so that they can be seen to overlap with the side on the right edge and the left edge of the expected course of the vehicle where the vehicle is desired to be brought closer. It is shifted to the left and right of the expected course at a corresponding interval. Therefore, the sight line or consciousness of the occupant is focused on the side where the vehicle is desired to be brought about the expected course. The course can be guided within the expected course.

FIG. 1 is an explanatory diagram of an automobile according to a first embodiment of the present invention. FIG. 2 is a schematic configuration diagram of a line-of-sight guidance system mounted on the automobile of FIG. FIG. 3 is a flowchart of a display process periodically executed by the display control unit of FIG. FIG. 4 is a diagram illustrating an example of a vehicle window image captured through the windshield by the front camera. FIG. 5 is a diagram for explaining an example of various specific parts specified for the captured window image of FIG. 4. FIG. 6 is an explanatory diagram of an example of a calculation process for obtaining perspective coordinates on the windshield. FIG. 7 is an explanatory diagram of an example of a car window scenery that can be seen through the windshield by the display process of FIG. FIG. 8 is a flowchart of a display process according to the second embodiment of the present invention. FIG. 9 is an explanatory diagram of an example of a car window scenery that can be seen through the windshield by the display process of FIG. FIG. 10 is a flowchart showing a part of the display process according to the third embodiment of the present invention.

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

[First Embodiment]
1st Embodiment demonstrates the example which displays a pair of driving | running | working reference | standard mark for guiding the passenger | crew's M eyes | visual_axis on the windshield 8. FIG.
FIG. 1 is an explanatory diagram of an automobile 1 according to the first embodiment of the present invention. The automobile 1 is an example of a vehicle. FIG. 1 is a view of the automobile 1 as viewed from above.
The automobile 1 in FIG. 1 has a vehicle body 2. The vehicle body 2 has a front chamber 3 in which an engine or the like is disposed, a passenger chamber 4 in which an occupant M gets in, and a rear chamber 5 in which luggage or the like is placed.
In the passenger compartment 4, a plurality of seats 6 on which the passenger M sits are arranged in two rows in the front-rear direction. A dashboard 7 extending in the left-right direction is disposed in front of the front seat 6. A windshield 8 is disposed on the upper side of the dashboard 7. The windshield 8 is a transparent or translucent member that can be seen through so that the passenger M who gets into the passenger compartment 4 can visually recognize the outside of the vehicle.
The passenger M gets into the passenger compartment 4 and sits on the seat 6. The traveling passenger M is restrained by the seat 6 by the seat belt 9.
A room mirror 10 for confirming the rear of the vehicle body 2 is disposed on the top of the windshield 8. Side mirrors 11 are arranged outside the passenger compartment 4 in the left direction and right direction of the seats 6 in the front row. The occupant M can check the surroundings in the front of the automobile 1 through the windshield 8 and the like, and can also check the surroundings in the back of the automobile 1 using the rearview mirror 10 and the side mirror 11.
Operation members such as a handle 12, a brake pedal 13, an accelerator pedal 14, and a shift lever 15 are arranged around the seat 6 of the occupant M who drives the automobile 1. The occupant M seated on the seat 6 operates the operation member and causes the automobile 1 to travel.

By the way, in recent automobiles 1, a navigation device that displays a guidance route on a liquid crystal display is mounted, or a device that supports driving in an emergency by monitoring a traveling environment by various radars.
However, the automobile 1 is still traveling based on an operation by the occupant M. While traveling, the occupant M confirms safety outside the vehicle from the window of the windshield 8 and the like, determines the confirmed condition outside the vehicle, and operates the automobile 1 accordingly. In this case, the running stability and safety of the automobile 1 are basically determined by the driving ability of the passenger M. Depending on the situation, the occupant M may move the line of sight so that the front, diagonally forward, left and right, rearward, diagonally rear, etc. of the vehicle body 2 may be appropriately checked, or may maintain the line of sight stably in a certain direction. While driving.
Therefore, for safety, for example, even for beginners who do not know how to use the line of sight to check their surroundings while driving, the necessary safety checks outside the vehicle should be carried out appropriately, as with advanced users. Is required. For example, it is necessary to visually confirm the front front, the front right diagonal front, and the front left diagonal front.
In addition, it is required that the crew members of the buses driving in a tired state perform necessary safety checks in the same manner as general passengers M who are not tired.
Further, even if the occupant M tries to confirm the outside of the vehicle, it may be assumed that the surroundings are difficult to see due to heavy rain and the like and cannot be sufficiently confirmed. Even in such bad weather conditions, the passenger M is required to perform necessary safety checks.
In this way, even beginners who do not know how to use their eyes while driving, perform necessary safety checks appropriately in bad weather such as heavy rain at night and continue to drive safely according to the situation Is required.

In addition to this, for example, in traveling stability, the occupant M is required to drive while confirming the course from an appropriate line of sight.
For example, when cornering along a curved road, first, the vehicle body 2 should be brought to the brake point on the outer edge of the course when entering the corner. Therefore, using this display method, the vehicle body 2 is directed naturally toward the brake point outside. The vehicle body 2 is guided to the clipping point by this display method. At the same time, guiding the line of sight farther makes it possible to stabilize the vehicle body behavior and draw an arc. When the occupant M drives the automobile 1 with such a line of sight, the automobile 1 can trace an out-in-in line in which the second half of the corner is stable and easy to avoid. The vehicle body 2 can pass through the corner smoothly in a stable state. As a result, not only the running stability of the automobile 1 but also the running safety can be improved.
As described above, the automobile 1 is potentially required not only to present information on the guide route and to support driving in an emergency, but also to support the driving of the occupant M itself.

FIG. 2 is a schematic configuration diagram of the line-of-sight guidance system 20 mounted on the automobile 1 of FIG.
2 includes a front camera 21, a rear camera 22, an in-vehicle camera 23, a driving support device 24, an ECU (Engine Control Unit) 25, a GPS (Global Positioning System) receiver 26, a navigation device 27, and wireless communication. A unit 28, a microcomputer 29, and a projector 30. A display control unit 31 is realized in the microcomputer 29.

  The front camera 21 is a camera that images the outside of the vehicle in front of the vehicle body 2. The front camera 21 may be, for example, a plurality of complementary metal oxide semiconductor (CMOS) sensors. The plurality of CMOS sensors are fixedly installed in a forward direction, for example, along the upper edge of the windshield 8 in the left-right direction of the vehicle body 2. The plurality of CMOS sensors may be fixedly installed side by side in front of the room mirror 10. With a plurality of CMOS sensors fixedly installed on the vehicle body 2, it is possible to obtain a plurality of images that are slightly shifted in the left-right direction with respect to a vehicle exterior scenery in front of the vehicle body 2 or a target such as another automobile. The imaging position in the image indicates a relative direction from the CMOS sensor toward the target. The relative direction and the relative distance between the host vehicle (vehicle body 2) and the target can be calculated by, for example, trigonometric calculation with the installation positions of the plurality of CMOS sensors as the base vertices. It is possible to obtain the relative spatial position of the target relative to the own vehicle (vehicle body 2).

  The rear camera 22 is a camera that images the rear of the vehicle body 2. The rear camera 22 may be a plurality of CMOS sensors, for example. The plurality of CMOS sensors are fixedly installed side by side in the left-right direction of the vehicle body 2 along the upper edge of the rear glass, for example. The plurality of CMOS sensors may be fixedly installed side by side rearward on the left and right side mirrors 11. With a plurality of CMOS sensors fixedly installed on the vehicle body 2, it is possible to obtain a plurality of images that are slightly shifted in the left-right direction with respect to a target object such as an outside scenery behind the vehicle body 2 or, for example, another automobile. And the relative spatial position of the target object on the basis of the own vehicle (vehicle body 2) can be obtained.

  The in-vehicle camera 23 is a camera that images the interior of the passenger compartment 4. The in-vehicle camera 23 may be a plurality of CMOS sensors, for example. For example, the plurality of CMOS sensors are fixedly installed rearward in the left and right direction of the vehicle body 2 on the upper edge portion of the windshield 8. The plurality of CMOS sensors may not be arranged in this triangulation, but one may be fixedly installed rearward on the dashboard 7 and the other may be fixedly installed downward on the roof of the vehicle body 2 above the seat 6. Even in this case, the relative spatial position of the head and the eyeball with respect to the own vehicle (vehicle body 2) from the imaging position of the head and the eyeball of the occupant M seated on the seat 6 in each image by the orthogonal coordinate system. Can be calculated.

The driving support device 24 is a computer device connected to the front camera 21 and the rear camera 22. The driving support device 24 generates, for example, information on a moving body such as another car 1 existing around the own vehicle (vehicle body 2) based on images captured by these cameras. The information on the moving body includes information such as a relative direction and distance, and a relative moving direction. The relative moving direction of the moving body can be calculated based on changes in the direction and distance of the moving body in a plurality of images captured before and after time. The driving support device 24 determines the risk of a collision or the like based on the generated information on the moving body, and outputs a braking signal, an airbag deployment signal, or the like to the ECU 25 if there is a risk of a collision.
In addition, the driving support device 24 outputs data of the captured images of the front camera 21 and the rear camera 22 to the display control unit 31 of the microcomputer 29 together with the moving body information indicating the risk around the vehicle body 2. The captured images of the front camera 21 and the rear camera 22 can be used as an image of a car window scenery about a scenery that the occupant M visually recognizes from the inside of the car.

  The ECU 25 is a computer device that controls the traveling of the vehicle 1 based on signals from the operation of the occupant M, the travel support device 24, and the like. The ECU 25 outputs a control signal to the engine and brake device of the automobile 1. The ECU 25 outputs related information about the traveling of the vehicle body 2 such as the vehicle speed, the steering angle of the steering wheel 12, whether or not the brake pedal 13 is operated, and the operation amount to the display control unit 31.

  The GPS receiver 26 receives GPS signals from GPS satellites. The GPS receiver 26 generates information such as the spatial position (latitude, longitude, altitude), moving speed, and time of the host vehicle (vehicle body 2) from a plurality of GPS signals received from a plurality of GPS satellites. The GPS receiver 26 outputs related information about the generated traveling of the vehicle body 2 to the display control unit 31.

The navigation device 27 is connected to the GPS receiver 26. The navigation device 27 has accumulated information such as map data, road data, and terrain data. The road data includes node data related to intersections of a plurality of roads and link data related to each road section between the intersections. The node data includes information such as the number of lanes at the intersection and lane regulation information. The link data includes information such as the number of lanes on each road and lane regulation information. When the destination is set, the navigation device 27 uses the accumulated information to generate, for example, data indicating the movement route from the current location to the destination, and displays the generated movement route together with the map on the display.
Further, the navigation device 27 outputs map data, road data, terrain data, and guide route data to the display control unit 31 of the microcomputer 29. The map data, road data, terrain data, and guide route data can be used as landscape information about the vehicle window scenery that the occupant M sees from inside the vehicle.

  The radio communication unit 28 performs radio communication with, for example, a base station installed on the ground. The wireless communication unit 28 acquires information from a server device connected to, for example, the Internet through the base station. Examples of such information include traffic information and regulation information. In addition, the wireless communication unit 28 may acquire, for example, position information, moving speed, moving direction, and the like of mobile phones that exist in the vicinity. The position information of the mobile phone can be used as position information of a moving object such as a person, a child, or a dog. Further, the wireless communication unit 28 may acquire map data, road data, and terrain data around the vehicle (the vehicle body 2) traveling. Then, the navigation device 27 outputs the acquired information to the display control unit 31 of the microcomputer 29.

  Note that components such as the GPS receiver 26, the navigation device 27, and the wireless communication unit 28 may be detachable from the vehicle body 2. Devices that can be used for such purposes include, for example, portable information terminals such as mobile phones and multi-function mobile communication devices. Moreover, you may use the imaging device of a portable information terminal as the front camera 21, the rear camera 22, and the in-vehicle camera 23. FIG. Even in this case, for example, by enabling the portable information terminal to be attached to the vehicle body 2 in a predetermined posture, the front camera 21, the rear camera 22 or the interior of the vehicle fixed to the vehicle body 2 in a predetermined imaging direction. It can be used as the camera 23.

  The projector 30 projects an image on the windshield 8, for example. In addition to this, the projector 30 may project an image on a transparent or translucent screen installed between the occupant M and the windshield 8 or glasses worn by the occupant M. The windshield 8 may be attached with, for example, a transparent film in order to display the projected video. The projector 30 is installed in the dashboard 7 toward the windshield 8. The passenger M can visually recognize the image projected on the windshield 8 by the reflected light of the windshield 8. By adjusting the amount of light projected from the projector 30 onto the windshield 8 or limiting the range and time of the image projected onto the windshield 8, the occupant M can visually recognize the scenery outside the vehicle through the windshield 8. 8 can be visually recognized.

The microcomputer 29 is connected to the in-vehicle camera 23, the driving support device 24, the ECU 25, the navigation device 27, the wireless communication unit 28, and the projector 30. The microcomputer 29 is a computer device having a memory and a CPU (Central Processing Unit). The CPU reads and executes a program stored in the memory. Thereby, the display controller 31 is realized in the microcomputer 29.
The display control unit 31 uses the information input to the microcomputer 29 from these connected devices to output an image for guiding the sight line of the occupant M to the projector 30 so as to alert the occupant M. As a result, an image for guiding the line of sight of the occupant M is displayed on the windshield 8 that can be seen through so that the occupant M who rides on the vehicle body 2 can visually recognize the outside of the vehicle. For example, as will be described later, the display control unit 31 includes a perspective coordinate on the windshield 8 through which a line of sight passes when an occupant M visually recognizes an expected course where the vehicle body 2 is expected to pass based on landscape information outside the vehicle. The perspective coordinates through which the right edge and the left edge of the expected course are seen are specified, and a pair of traveling reference marks that overlap the right edge and the left edge of the expected course are displayed on the windshield 8.
For example, the microcomputer 29 may have a function as the driving support device 24, a function as the ECU 25, a function as the navigation device 27, and a function as the wireless communication unit 28 together with the display control unit 31. In this case, devices such as the front camera 21, the rear camera 22, and the GPS receiver 26 may be directly connected to the microcomputer 29.

Next, an example of processing for visual guidance by the visual guidance system 20 of FIG. 2 will be described. The line-of-sight guidance system 20 guides the sight line of the occupant M by displaying a driving reference mark superimposed on the scenery that the occupant M wants to see, for example, the course.
FIG. 3 is a flowchart of a display process periodically executed by the display control unit 31 of FIG. The display control unit 31 repeatedly executes the process of FIG. 3 every 100 milliseconds, for example, and updates the display of the windshield 8.
FIG. 4 is a diagram illustrating an example of a vehicle window image IM captured by the front camera 21 through the windshield 8.
FIG. 5 is a diagram for explaining an example of various specific parts specified for the captured window image IM of FIG. 4.

In order to guide the line of sight of the occupant M, the display control unit 31 periodically executes the display process of FIG. First, the display control unit 31 determines whether or not display is required for guiding the sight line of the occupant M (step ST1).
For example, the display control unit 31 measures and quantifies the unstable behavior of the vehicle body 2 and the degree of tension of the occupant M. If the value exceeds a certain level, the display control unit 31 determines that gaze guidance display is necessary.
In addition, the display control unit 31 determines that the line-of-sight guidance display is necessary when there is a change in the travel environment such as a sharp curve or the vehicle body 2 jumping out.
Further, the display control unit 31 may determine the most recent movement of the line of sight of the occupant M, and may determine that the line-of-sight guidance display is necessary, for example, when there is a moving body that is not noticed.
In cases other than these, the display control unit 31 determines that the line-of-sight guidance display is unnecessary, and ends the display process of FIG.
Note that the display control unit 31 may determine whether or not the line-of-sight guidance display is necessary immediately before the display process described later.

When it is determined that the gaze guidance display is necessary, the display control unit 31 continues the display process of FIG. 3 and acquires information for gaze guidance (step ST2).
The information acquired by this process includes, for example, an image captured in front of the vehicle body 2 by the front camera 21 that can be used as the front vehicle window image IM, and an in-vehicle camera 23 that can be used to determine the line of sight of the occupant M. There are captured images in the car.

After acquiring the information for guiding the line of sight, the display control unit 31 sees the coordinates on the windshield 8 through which the line of sight of the occupant M passes when viewing the spatial position of the direction or point where the line of sight of the occupant M is to be guided. P (x, y) is estimated (step ST3).
By displaying the traveling reference mark 41 for guiding the line of sight of the occupant M at the perspective coordinates P (x, y), the line of sight of the occupant M can be directed to the direction or point. Here, a case where the sight line of the occupant M is guided with respect to the expected course will be described as an example. In the vehicle window image IM of FIG. 4, the road extends straight forward in front of the vehicle body 2. In this case, as shown by a dotted frame in FIG. 4, the occupant M needs to visually confirm the road surface condition of the road that is the course of the automobile 1.

In the process of estimating the perspective coordinates P (x, y) of the line of sight to the guidance point, the display control unit 31 first specifies a coordinate range that is an expected course (own lane) in the vehicle window image IM (step ST4).
The display control unit 31 specifies an imaging coordinate range in which a road that is an expected course in the vehicle window image IM is imaged using, for example, guide route data or road data link data. For example, in the case of the vehicle window image IM of FIG. 4, the imaging range of the straight road hatched in FIG. 5 is the imaging coordinate range of the road that is the expected course.
In addition, when it is determined that the road is a two-lane road based on the road data, when it is determined that the road is a one-lane two-lane road, the imaging range of the lane in which the vehicle is traveling is set as an imaging coordinate that is an expected course. A range may be used.
Moreover, when the white line line and yellow line line which divides a road for every lane can be recognized by the process with respect to the vehicle window image IM, you may identify the imaging range of the lane which the own vehicle drive | works based on this information.

After specifying the imaging coordinate range that becomes the predicted course (own lane), the display control unit 31 identifies the boundary line of the predicted course in the vehicle window image IM (step ST5).
The display control unit 31 specifies, for example, a set of coordinates serving as the right edge of the imaging coordinate range that is the predicted course (own lane) as the right boundary line of the predicted course. In addition, a set of coordinates serving as the left edge of the imaging coordinate range serving as the predicted course (own lane) is specified as the left boundary line of the predicted course.

After identifying the boundary line of the expected course for the vehicle window image IM, the display control unit 31 identifies a plurality of line-of-sight guidance coordinates (step ST6). Specifically, in the case of the vehicle window image IM in FIG. 4, the display control unit 31 determines that the vehicle is curving to the right in the case of the expected course curving to the right in FIG. 4, and as shown in FIG. The line-of-sight guidance coordinate P1 in the foreground, the line-of-sight guidance coordinate P2 in the center on the right side, and the line-of-sight guidance coordinate P3 in the left back are specified.
Information on the presence / absence and degree of curvature of the expected course can be acquired from the navigation device 27. The display control unit 31 refers to the acquired information, and specifies a plurality of line-of-sight guidance coordinates P1 to P3 that pass through the turn of the course in and out.

Next, the display control unit 31 specifies the spatial position of the viewpoint of the occupant M (the starting point of the line of sight) based on the in-vehicle image captured by the in-vehicle camera 23 (step ST7).
In the case of FIG. 2, the captured image in the vehicle includes the face of the occupant M. In this case, the direction of the head or eyeball with respect to the in-vehicle camera 23 can be specified by specifying the position of the head or eyeball in the image. The occupant M is seated on the seat 6 and is restrained by the seat belt 9. Therefore, the distance from the in-vehicle camera 23 to the head or eyeball can be estimated from the information on the front and rear positions of the sliding seat 6. Based on these pieces of information, the display control unit 31 specifies the spatial position of the head or eyeball of the occupant M who is in the vehicle.
In addition to this, for example, in a state where a reference mark that overlaps a predetermined object outside the vehicle is displayed, the occupant M moves the head from side to side, and an image in a state where the reference mark appears to overlap with the predetermined object outside the vehicle is used as a reference. Capture and hold as an image. Thereafter, the spatial position of the head or eyeball of the occupant M who is on board is determined based on the difference between the imaging position of the head or eyeball in the reference image and the imaging position of the head or eyeball in the in-vehicle image at the time of processing. You may specify. Even in this case, the display control unit 31 can specify the approximate spatial position of the head or eyeball of the occupant M who is in the vehicle.

Next, when the occupant M sees the line-of-sight guidance position through the windshield 8, the display control unit 31 calculates the perspective coordinates P (x, y) on the windshield 8 through which the line of sight passes (step ST8).
FIG. 6 is an explanatory diagram illustrating an example of a calculation process for obtaining the perspective coordinates P (x, y) on the windshield 8. FIG. 6 is a schematic cross-sectional view of the vehicle body 2 and the road cut along a vertical plane. FIG. 6 shows a road surface of the road, a front camera 21 fixed on the vehicle body 2, the windshield 8, the head of the occupant M, and the eyeball. In addition, a car window image IM captured by the front camera 21 is schematically illustrated. In this case, the vehicle window image IM can be handled as a virtual image standing in front of the vehicle body 2 at the intersection of the lower edge of the imaging range of the front camera 21 and the road surface.
Under such a spatial positional relationship, the spatial position of the front camera 21 and the gaze guidance point P1R on the road corresponding to, for example, the gaze guidance coordinates P1 in the vehicle window image IM is obtained. A line segment connecting the spatial position of the line-of-sight guidance point P1R on the road and the spatial position of the head or eyeball of the occupant M intersects the windshield 8. By calculating based on such a positional relationship, the display control unit 31 allows the perspective coordinates P (x on the windshield 8 through which the line of sight passes when the occupant M views the line of sight guidance point P1R through the windshield 8. , Y). The display control unit 31 calculates the perspective coordinates P (x, y) on the windshield 8 for each of the specified plurality of line-of-sight guidance coordinates P1 to P3.

After calculating the perspective coordinates P (x, y) on the windshield 8 for each of the plurality of line-of-sight guidance coordinates P1 to P3, the display control unit 31 sets a plurality of travel references for each of the perspective coordinates P (x, y). The process for displaying the mark 41 is started.
The display control unit 31 displays the driving reference mark 41 on the left front side at the perspective coordinates P (x, y) corresponding to the line-of-sight guidance coordinate P1 on the left front side. The traveling reference mark 41 at the right center is displayed at the perspective coordinate P (x, y) corresponding to the line-of-sight guidance coordinate P1 at the right center. The travel reference mark 41 on the back left side is displayed on the perspective coordinate P (x, y) corresponding to the line-of-sight guidance coordinate P1 on the left back side.
FIG. 7 is an explanatory diagram of an example of a vehicle window scenery that the occupant M sees through the windshield 8. In FIG. 7, three travel reference marks 41 are displayed along the traveling direction and overlapped with the right edge and the left edge of the lane in which the host vehicle travels.
The line of sight of the occupant M can know the curved state of the course by moving the line of sight between the plurality of traveling reference marks 41 alternately arranged on the right edge and the left edge of the traveling lane along the traveling direction. . Further, it is possible to know a travel line that can smoothly pass through a curved road. In addition, since the plurality of travel reference marks 41 appear to overlap the right and left edges of the lane, the occupant M can recognize that the lane width is equal to or greater than the vehicle width of the vehicle body 2. You can know that you can drive on a curved course with an out-in-out course.

As described above, in the present embodiment, the display control unit 31 acquires the vehicle window image IM regarding the scenery that the occupant M visually recognizes from the inside of the vehicle, and based on the vehicle window image IM, the vehicle is expected to pass. The perspective coordinates P (x, y) on the windshield 8 through which the line of sight passes when the occupant M visually recognizes the right edge and the left edge of the course are specified. Then, the projector 30 causes the windshield 8 to display a plurality of travel reference marks 41 discretely along the predicted course of the vehicle based on the perspective coordinates P (x, y). Moreover, the several driving | running | working reference marks 41 have shifted | deviated to the right and left of an estimated course by the space | interval equivalent to the vehicle width or more of the own vehicle. Thus, the occupant M can see the plurality of travel reference marks 41 displayed on the windshield 8 in a manner overlapping the right edge and the left edge of the predicted course of the vehicle. The line of sight of the occupant M can be guided to the predicted course of the host vehicle highlighted by the plurality of travel reference marks 41. The occupant M can confirm the expected course that needs to be confirmed during driving. It is possible to confirm whether or not the vehicle can travel safely by checking between the plurality of travel reference marks 41. Further, the line of sight of the occupant M is stabilized in the expected course due to the display of the plurality of travel reference marks 41, and as a result, the automobile 1 can travel stably. Further, even after the occupant M moves his / her line of sight in another direction, the line of sight can be easily and quickly returned to the desired predicted course. There is no need to look for the expected course when returning the line of sight.
In particular, the plurality of travel reference marks 41 are shifted to the left and right of the expected course at intervals corresponding to the vehicle width of the automobile 1 or more. For this reason, it is difficult for the occupant M's line of sight to concentrate on one point, and the direction of the expected course is easily observed as a whole. It becomes easy to confirm not only on the expected course but also on the left and right sides of the expected course.
On the other hand, if, for example, one traveling reference mark 41 is displayed on the expected course, the line of sight of the occupant M is likely to concentrate on that one point. As a result, even if the line of sight of the occupant M can be guided by one point of the travel reference mark 41, the consciousness is concentrated only on the one point, and it becomes difficult to observe the direction of the expected course as a whole. In particular, it becomes difficult to confirm the left and right safety of the predicted course that is slightly away from the single travel reference mark 41. In this embodiment, it is difficult for such misleads to occur.
Further, in the present embodiment, the plurality of travel reference marks 41 can be seen so as to overlap with the side on which the vehicle body 2 in the right edge and the left edge of the predicted course of the host vehicle is desired to be brought close. It is shifted to the left and right of the expected course at intervals equivalent to the width of the car. Therefore, the line of sight or consciousness of the occupant M is focused on the side where the automobile 1 is desired to be brought about the expected course. The course can be guided within the expected course.

  Further, in the present embodiment, when the predicted course is curved, the projector 30 displays a plurality of travel reference marks 41 on the outer side, the inner side, and the outer side of the predicted course in the curved portion of the predicted course. Therefore, the line of sight of the occupant M is guided so as to be directed to the outside of the expected course, next to the inside, and then to the outside with respect to the expected course that is curved. It becomes an out-in-out line of sight with respect to the expected course that is curved, and the automobile 1 can pass the expected course that is curved stably and smoothly.

[Second Embodiment]
In the second embodiment, an example in which a pair of left and right lane lines 42 are displayed on the windshield 8 together with a plurality of travel reference marks 41 will be described.
The configurations of the automobile 1 and the line-of-sight guidance system 20 in the second embodiment are the same as those in the first embodiment, and the description thereof is omitted using the same reference numerals. In the following description, differences will be mainly described.

FIG. 8 is a flowchart of a display process according to the second embodiment of the present invention.
FIG. 9 is an explanatory diagram of an example of a car window scenery that can be seen through the windshield by the display process of FIG. In FIG. 9, a pair of left and right lane lines 42 are displayed together with a plurality of travel reference marks 41.

As shown in FIG. 8, in step ST3, for example, a plurality of perspective coordinates P (x, y) on the windshield 8 through which a line of sight that visually recognizes each of the plurality of line-of-sight guidance coordinates P1 to P3 with respect to the curved predicted course is passed. After calculating, the display control unit 31 starts display processing.
In the display process, first, the display control unit 31 displays a pair of lane lines 42 extending along the right edge and the left edge of the predicted course as shown in FIG. 9 (step ST11). Thereby, the line of sight of the occupant M is guided to the road surface and the periphery of the expected course.
After displaying the pair of lane lines 42, the display control unit 31 further displays a plurality of travel reference marks 41 at a plurality of perspective coordinates P (x, y) (step ST12). Here, as shown in FIG. 9, an arrow line is displayed as the travel reference mark 41. The tip of each arrow line is assumed to be a perspective coordinate P (x, y).
The display of FIG. 9 is completed by the above processing.

As described above, in the present embodiment, the pair of lane lines 42 are displayed on the left and right of the expected course. As a result, the occupant M can be made aware of the expected course.
In addition, the plurality of travel reference marks 41 are displayed so as to overlap or be close to the pair of left and right lane lines 42. Therefore, the line of sight of the occupant M can be guided along the pair of left and right lane lines 42 by the plurality of travel reference marks 41 while maintaining the line of sight and the consciousness toward the right and left edges of the expected course.

[Third Embodiment]
In the third embodiment, the display position and the type of each travel reference mark 41 are changed so as to be displayed shifted from the right edge or the left edge of the predicted path inward in the road surface width direction according to the lane condition of the predicted path. Will be described.
The configurations of the automobile 1 and the line-of-sight guidance system 20 in the third embodiment are the same as those in the first embodiment, and the description thereof is omitted using the same reference numerals. In the following description, differences will be mainly described.

FIG. 10 is a flowchart showing a part of the display process according to the third embodiment of the present invention. FIG. 10 shows detailed processing of the display processing step ST9 during the display processing of FIG.
After executing the perspective coordinate estimation processing step ST3 in FIG. 3, the display control unit 31 performs the display processing in FIG.

  In the display process of FIG. 10, the display control unit 31 determines whether or not the display of the vehicle body 2 is recommended in the lane as the expected course (step ST21). For example, when the lane width of the predicted course is larger than the width of the vehicle body 2, the display control unit 31 determines that the justified display is recommended. In other cases, it is determined that the justified display is not recommended. The lane width of the predicted course may be obtained by analyzing the vehicle window image IM or may be obtained from the navigation device 27.

  If display is not recommended, the display control unit 31 displays a normal traveling reference mark 41 as shown in FIG. 7, for example, on the perspective coordinates P (x, y) estimated in step ST3 (step ST22). . The normal traveling reference mark 41 is displayed so as to overlap the right edge or the left edge of the expected course.

  When the shift is possible, the display control unit 31 further determines whether or not the vehicle can pass through the lane as the planned route (step ST23). The display control unit 31 passes through the lane when the other vehicle is stopped in the lane as the planned route, when there is a depression in the lane, when the lane width that can be traveled is equal to or less than the width of the vehicle body 2 Judge that it is not possible. Otherwise, it is determined that the vehicle can pass through the lane. Note that other automobiles parked in the lane and depressions in the lane can be obtained by analyzing the vehicle window image IM.

  When the vehicle cannot pass through the lane, the display control unit 31 displays the travel reference mark 41 indicating that the vehicle cannot pass through the lane at the perspective coordinates P (x, y) estimated at step ST3 (step ST24). The traveling reference mark 41 indicating that the vehicle cannot pass through the lane may be, for example, an X mark. The driving reference mark 41 indicating that the vehicle cannot pass through the lane is displayed so as to overlap the right edge or the left edge of the expected route.

When the vehicle can pass through the lane, the display control unit 31 starts a process for justified display. The display control unit 31 first calculates a shift coordinate for displaying the normal traveling reference mark 41 (step ST25).
For example, when another vehicle is parked outside the corner, the display control unit 31 avoids the other vehicle, and the perspective coordinates P (x, y) obtained by the perspective coordinate estimation process in step ST3 in FIG. ) Is moved to the inside of the lane leaving at least the width of the vehicle body 2 in the lane.
Next, the display control unit 31 displays the normal traveling reference mark 41 at the coordinates obtained by using the acquired coordinates as the offset coordinates (step ST26).
As a result, the normal travel reference mark 41 is displayed near the center of the lane from the right edge or the left edge of the predicted lane.

  The above embodiment is an example of a preferred embodiment of the present invention, but the present invention is not limited to this, and various modifications or changes can be made without departing from the scope of the invention.

  For example, in the above embodiment, the projector 30 projects an image on the windshield 8. In addition to this, for example, the projector 30 may be installed between the windshield 8 and the occupant M, and may display an image on a screen through which the occupant M who gets on the vehicle body 2 can see through the vehicle. . Further, an image may be displayed on a screen made of glass of glasses worn by the occupant M.

  In the above-described embodiment, the display control unit 31 uses the captured vehicle window scenery as scenery information. In addition, for example, the landscape information may be obtained from the information of the navigation device 27 and the acquired information of the wireless communication unit 28.

  In the above embodiment, the guide route is the expected route. In addition to this, for example, a road reflected in the car window image IM itself may be set as the expected course. Further, the expected course may be predicted based on the acquired information of the wireless communication unit 28.

  In the said embodiment, a pair of driving | running | working reference | standard mark 41 is displayed on the space | interval corresponding to a vehicle width as needed on the basis of displaying at the space | interval corresponding to a lane width. In addition to this, for example, the pair of travel reference marks 41 may always be displayed at intervals corresponding to the vehicle width.

  The above embodiment is an example in which the present invention is applied to an automobile 1. In addition to this, there are two-wheeled vehicles and trains running on tracks. The present invention can be applied to these vehicles.

DESCRIPTION OF SYMBOLS 1 ... Motor vehicle (vehicle), 8 ... Windshield, 20 ... Gaze guidance system (gaze guidance device), 21 ... Front camera, 22 ... Rear camera, 23 ... In-vehicle camera, 24 ... Driving support device, 25 ... ECU, 26 ... GPS receiver, 27 ... navigation device, 28 ... wireless communication unit, 29 ... microcomputer, 30 ... projector (display member), 31 ... display control unit (landscape information acquisition unit, see-through position specifying unit), 41 ... driving reference Mark, 42 ... Lane line, M ... Crew, IM ... Car window image (landscape information), PC ... Center of visual field coordinates, P1, P2, P3 ... Gaze guidance coordinates, P1R ... Gaze guidance point, P (x, y) ... Perspective Coordinate

Claims (3)

A display member that displays an image on a windshield or a screen that can be seen through in order for an occupant riding in the vehicle to visually recognize the outside of the vehicle;
A landscape information acquisition unit for acquiring landscape information about the landscape visually recognized by the occupant from within the vehicle;
Based on the landscape information, the windshield or the see-through position on the screen through which the line of sight passes when the occupant visually recognizes the expected course where the vehicle is expected to pass, or the right edge and the left of the expected course of the vehicle A fluoroscopy position specifying unit for specifying a fluoroscopy position through which the edge is transparent;
Have
The display member is
Based on the fluoroscopic position, a plurality of travel reference marks are displayed discretely along the predicted course of the vehicle on the windshield or the screen, and the plurality of travel reference marks are located on the right side of the expected course of the vehicle. Shifted to the left and right of the expected course at an interval equivalent to the vehicle width or more of the vehicle so that it can be seen to overlap the side of the edge and the left edge where the vehicle is desired to be brought.
Gaze guidance device for vehicles. When the predicted course is curved, the display member displays the plurality of travel reference marks on the outer side, the inner side, and the outer side of the predicted course in a curved portion of the predicted course.
The gaze guidance device for a vehicle according to claim 1. The display member is
A pair of lane lines are displayed on the left and right sides of the predicted course at intervals corresponding to the vehicle width or more so that the right and left edges of the predicted course can be seen to overlap.
The plurality of driving reference marks are displayed on or near the pair of left and right lane lines,
The gaze guidance device for a vehicle according to claim 1 or 2.

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