JP2017157093A - Display device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a display device for a vehicle in which, a deviation between a display position of display information which should be visually confirmed by a driver of an actual vehicle and a position on a three-dimensional space which is grasped by a driver, is small, and which facilitates intuitive grasping of a position corresponding to display information.SOLUTION: A display device for a vehicle comprises: a display control part 40 for displaying reference information corresponding to a current position on a road on a position according to a state of a front visual field, according to the current position on the actual road which is reflected on a front visual field which a driver can visually confirm in a standard driving posture. In the display device for a vehicle, a position coordinate on the three-dimensional space is converted into a coordinate in a two-dimensional space corresponding to the front visual field and is superposed on a screen display of a display, or is displayed as a virtual image, by a HUD unit 20, so as to be overlapped to a video of the front visual field imaged by an on-vehicle camera 31, or to an actual front visual field.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle display device that displays information associated with a road so that a driver can visually recognize the information.

  For example, the game device disclosed in Patent Document 1 shows a technique for performing a game or simulation related to driving of a vehicle. That is, a vehicle traveling in a virtual three-dimensional space is reproduced by a computer and displayed on a screen, and displayed so as to move the vehicle in accordance with an operation from a player.

  Moreover, for example, the driving skill acquisition device disclosed in Patent Document 2 can be used in an environment where an actual vehicle is actually driven. This driving skill acquisition device has a function of receiving road data from the outside of the vehicle and displaying the detected current position of the vehicle together with the road data on a display device. Specifically, as shown in FIG. 5 of Patent Document 2, a travel line, a current position, and an ideal travel line are displayed on a road displayed in a plan view like a road map. Further, the current position of the vehicle is detected by comparing the captured image with road data.

JP 2000-233072 A JP 2003-76260 A

  For example, when a relatively inexperienced driver wants to perform training or practice while actually driving a vehicle at a circuit field, driving school, or other driving practice field, the driving skill acquisition device of Patent Document 2 By using, the driver can efficiently acquire the driving skill even in an environment where guidance by the rider or the like cannot be received.

  That is, since the road, the driving line on the road, the current position, the ideal driving line, etc. are displayed on the display screen, the driver driving the vehicle for training or practice is displayed on the screen. By visually recognizing the contents, it becomes possible to recognize a deviation between the ideal travel line and the actual travel line, or to correct the driving operation so that the current travel line is brought closer to the ideal travel line.

  However, the three-dimensional front view state that the driver visually recognizes while driving the vehicle and the content such as the two-dimensional road map displayed on the screen are in completely different spaces. Since it is disposed, it is difficult for the driver to accurately grasp the correspondence between the two. For example, it is possible to grasp where the ideal travel line that cannot be seen in the actual three-dimensional space is located, or to know how much the amount of deviation between the current travel line and the ideal travel line is sensuously. It is difficult unless you are a special driver who is proficient in handling the driving skill acquisition device itself.

  For example, as in the game device disclosed in Patent Document 1, it is possible to display a vehicle, a road, and the like arranged in a virtual three-dimensional space on the screen. However, such a display function of the game device is a display for a game or a simulation to the last, and is greatly different from the front view state visually recognized by the driver in the actual driving state.

  Further, if an in-vehicle device such as a digital tachograph is used, various states during traveling of the vehicle can be automatically recorded and saved as log data. Then, the recorded log data can be read out and reproduced after operation and displayed on the screen. Such log data can be used as a reference when, for example, an inexperienced driver wants to acquire driving skills, but the contents of the log data cannot be referred to when actually driving the vehicle. . Even if it can be referred to, it is difficult to grasp the situation because the data is simply a list of numerical values.

  The present invention has been made in view of the above-described circumstances, and its purpose is to display a display position of display information to be visually recognized by a driver of an actual vehicle and an actual three-dimensional space grasped by the driver. An object of the present invention is to provide a vehicular display device in which the deviation from the position of the vehicle is small and the position associated with the display information can be intuitively grasped.

In order to achieve the above-described object, the vehicle display device according to the present invention is characterized by the following (1) to (6).
(1) A vehicle display device for displaying predetermined reference information required by a driver during driving of the vehicle,
The reference information associated with the current position on the road is displayed at a position according to the situation of the front view in accordance with the current position on the actual road reflected in the front view visible to the driver. Display controller,
It is provided with.

  According to the vehicle display device having the configuration (1), it is possible to display the reference information to be presented to the driver at a desired position in the front view of the driver. Therefore, the driver can intuitively grasp the actual state of the reference information from the place where the displayed reference information is viewed.

(2) In the vehicle display device according to (1), the display control unit includes at least a composite image obtained by superimposing the video in front of the vehicle photographed by an in-vehicle camera mounted on the vehicle and the reference information. Output,
It is characterized by that.

  According to the vehicle display device having the configuration (2), the relative positional relationship between the reference information and the position of each road in the scene reflected in the front view, for example, is determined from the display content of the composite image. Can be intuitively grasped.

(3) In the vehicle display device according to (1) or (2), the display control unit projects at least the reference information by a head-up display mounted on the vehicle, and the corresponding in the front field of view. A virtual image of the reference information is displayed at a position to be
It is characterized by that.

  According to the vehicle display device having the configuration (3), the virtual image of the reference information is projected onto the scene in the front field of view that the driver actually sees while driving. The driver can intuitively grasp the relative positional relationship between each position of the road in the scene reflected in the field of view and the reference information.

(4) In the vehicle display device according to (1), the display control unit may use, as the reference information, travel log data recorded during past vehicle travel, and an external that can be acquired from outside the vehicle through wireless communication. Using at least one of the provided information, the display target information is extracted from the reference information by comparing the position information included in each of the reference information and the current position of the host vehicle, and the display target information is used as the display target information. The display position is determined based on the relative positional relationship between the included position information and the current position of the host vehicle.
It is characterized by that.

  According to the vehicle display device having the configuration of (4) above, since the position information is included in each of the reference information, the reference information is converted to the driving information based on the position information and the current position of the host vehicle. It is possible to display it at a desired position in the person's front view. When the travel log data is used as the reference information, it is possible to read and display data recorded when the driver himself / herself or another person such as a leader has driven the vehicle in the past. When the externally provided information is used as the reference information, for example, characteristic information unique to the traveling road can be displayed.

(5) In the vehicle display device according to (1), the display control unit preferentially treats a position where the distance between the position information included in each of the reference information and the current position of the host vehicle is small, For the information of the position out of the front view of the reference information, the priority is lowered.
It is characterized by that.

  According to the vehicle display device having the configuration (5), it is possible to preferentially display reference information that is important at each time point for the driver who is actually driving the vehicle. Moreover, since the display of the information of the position out of the front view is suppressed, the number of information displays can be suppressed to the minimum, and the visibility for important information can be improved.

(6) In the vehicle display device according to (1), when the reference information includes information on a reference travel route and acceleration at each position on the travel route, the display control unit The visible line information indicating the reference travel route is displayed in the forward field of view, and the acceleration at each position on the travel route is reflected in the display thickness of the visible line information.
It is characterized by that.

  According to the vehicle display device having the configuration (6), the driver can intuitively grasp the magnitude of acceleration based on the display thickness for each position of the visible line information to be displayed. For example, in front of a curve point on a road where the driver cannot see far away in the front view, the difference in the curvature radius of the curve is recognized by the thickness of the display of the visible line information without referring to the road map. Since it is possible, it can be used to perform a driving operation for appropriate travel speed adjustment.

  According to the vehicle display device of the present invention, the display information display position that should be visually recognized by the driver of the actual vehicle and the actual position in the three-dimensional space grasped by the driver are small, and the display It is possible to realize a display in which an intuitive grasp of a position associated with information is easy.

  The present invention has been briefly described above. Further, the details of the present invention will be further clarified by reading through a mode for carrying out the invention described below (hereinafter referred to as “embodiment”) with reference to the accompanying drawings. .

FIG. 1 is a block diagram illustrating a configuration example of a system including a vehicle display device according to an embodiment of the present invention. FIG. 2 is a flowchart showing an outline of processing related to composite image generation of the vehicle display device. FIG. 3 is a side view showing the positional relationship between the field of view of the in-vehicle camera and the display when the vehicle equipped with the vehicle display device is viewed from the side. FIG. 4 is a flowchart showing an outline of processing related to HUD display control of the vehicle display device. FIG. 5 is a side view showing the relationship between the virtual image forming plane of the HUD display and the display position when a vehicle equipped with the vehicle display device is viewed from the side. FIG. 6 is a front view showing a specific example (1) of the composite image output from the vehicle display device. FIG. 7 is a schematic diagram illustrating a specific configuration example of travel log data used by the vehicle display device. FIG. 8 is a graph showing a specific example of changes in the displayed travel line. FIG. 9 is a plan view showing a specific example of the line width control corresponding to the lateral acceleration of the travel line to be drawn. FIG. 10 is a front view showing a specific example (2) of the composite image output by the vehicle display device.

Specific embodiments relating to the present invention will be described below with reference to the drawings.
<Representative examples of uses of vehicle display devices>
For example, when a relatively inexperienced driver tries to practice or practice while driving a vehicle at a circuit field, driving school, other driving practice field, or general road, it was recorded in the past. By reading and displaying the operation log data, it can be used as a reference for operation. Therefore, the driver can efficiently acquire driving skills even in an environment where guidance by a rider or the like cannot be received. A vehicle display device can be used for such display.

  For example, if you are going around the same course repeatedly, such as at a circuit track, your own past log data, log data when a trained instructor (trainer) drove, when a rival driver drove By selecting, reproducing, and displaying the log data as necessary, it is possible to display useful for various drivers.

  Specifically, it is assumed that the position where slippage has occurred in the past due to mud on the road is displayed as useful reference information. In addition to this, it is also assumed that log data such as a reference travel line, lateral acceleration (lateral G), vehicle speed, shift position, lap time, brake point, and accelerator point are displayed.

  When displaying past log data, necessary log data can be held on a storage device (storage) mounted on the vehicle-mounted device. However, in an environment where data to be displayed can be acquired by wireless communication, display is possible even if a storage device is not mounted on the vehicle-mounted device, and information other than log data can also be displayed. For example, in an environment where the shape of the entire road is known, such as a circuit field or a driving school, it is also possible to display data representing the shape of the road and ideal travel line data in addition to the log data.

  However, simply displaying reference information such as log data during actual driving takes time for the driver to grasp the situation, and accurately grasps the positional relationship with the current position of the host vehicle. Have difficulty. The vehicle display device of the present invention can display various reference information intuitively and accurately as described later.

<Configuration example of vehicle display device>
FIG. 1 shows a configuration example of a system including a vehicle display device according to an embodiment of the present invention. In the system shown in FIG. 1, the in-vehicle display 10, the HUD unit 20, the in-vehicle camera 31, the GNSS receiver 32, the communication device 33, and the display control unit 40 are mounted on one vehicle.

  The in-vehicle display 10 is a display device having a two-dimensional screen capable of displaying visible information such as high-definition images. For example, in a vehicle instrument panel or a center console so that a driver can visually recognize the display contents. It is installed in the site.

  The HUD unit 20 is a projection unit that projects display light of a head-up display (HUD), and is installed below the dashboard. The HUD unit 20 has a built-in two-dimensional display panel composed of, for example, liquid crystal, and can emit display light of a two-dimensional image displayed on the two-dimensional display panel. The display light emitted from the HUD unit 20 is reflected on the surface of a combiner (reflector) arranged on or near the windshield (front window glass) of the automobile, and the viewpoint position of the driver driving the automobile, That is, it goes to the eye point. Since the driver visually recognizes the reflected light from the combiner, the display light of the HUD unit 20 is visually recognized by the driver as a virtual image. Specifically, it appears to be present at the position of the virtual image forming plane, for example, about 10 m ahead of the windshield. Further, since the combiner is a half mirror, the light of the scene in the front field of view of the automobile passes through the windshield and the combiner and is visually recognized by the driver. Therefore, the driver can view the front view scene and the display light of the HUD unit 20 at the same time in a superimposed state.

  It is also conceivable to configure the system by omitting the mounting of either the in-vehicle display 10 or the HUD unit 20.

  The in-vehicle camera 31 is, for example, near the upper center of the windshield and in a position that does not obstruct the driver's field of view so that it can capture the same scene as the front field of view visually recognized by the driver when driving the car. It is installed with the front facing. Therefore, the in-vehicle camera 31 can always take a two-dimensional image equivalent to the situation of the forward field of view visually recognized by the driver.

  The GNSS receiver 32 receives radio waves from a GNSS satellite 52 belonging to the Global Navigation Satellite System (GNSS) and can acquire information necessary for measuring the position of the host vehicle. As typical examples of GNSS, there are known GPS (Global Positioning System) in the United States, GLONASS in Russia, GALILEO in Europe, and the like.

  The communication device 33 has a function of performing data communication with the information transmission source 51 using a predetermined wireless communication line. The information transmission source 51 is a wireless communication facility installed in, for example, a circuit field, a driving school, or another driving practice field.

  Although not shown, the display control unit 40 is configured by hardware of an electronic circuit including a microcomputer (CPU), a graphic drawing processor (GPU), a storage device, and the like, and control software incorporated therein. . The display control unit 40 displays reference information suitable for the current situation at an appropriate state at any point on the road when an arbitrary driver drives the vehicle on an actual road. It has a control function for displaying. Information displayed by the display control unit 40 is output to at least one of the in-vehicle display 10 and the HUD unit 20.

  As shown in FIG. 1, the display control unit 40 includes a reception information holding unit 41, a travel log holding unit 42, an information position reading unit 43, a vehicle position specifying unit 44, a display position calculation unit 45, and a display information drawing processing unit 46. Each function of the drawing image data holding unit 47 and the composite image generating unit 48 is provided.

  The reception information holding unit 41 accumulates and holds the reference information received from the information transmission source 51 by the communication device 33. The reference information stored in the reception information holding unit 41 is mainly related to the road on which the host vehicle is traveling, and each of the reference information stored in the reception information holding unit 41 includes at least position information.

  The travel log holding unit 42 holds reference information related to past travel acquired and recorded when the host vehicle or another vehicle traveled in the past. Such travel log data can be recorded using, for example, a commercially available digital tachograph (vehicle operation recorder), but the same function is incorporated in the display control unit 40. Is also possible. Further, the travel log data can be transferred to the travel log holding unit 42 via a recording medium such as a removable memory card, and the travel log data can be traveled from the outside using the function of the communication device 33. It is also possible to transfer the data to the log holding unit 42.

  Typical examples of the data of the travel log held on the travel log holding unit 42 include a travel point, lateral acceleration (lateral G), vehicle speed, shift position, lap time, brake point, accelerator point, and a point where a slip occurs. Including time series data is assumed.

  The information position reading unit 43 reads various reference information held in the received information holding unit 41 and the travel log holding unit 42 and extracts position information associated with each reference information.

  The own vehicle position specifying unit 44 calculates latitude / longitude information representing the current position of the own vehicle based on information received from the GNSS satellite 52 by the GNSS receiver 32.

  The display position calculation unit 45 calculates the positions of various reference information read by the information position reading unit 43 as coordinates in the front field of view representing the shooting range of the in-vehicle camera 31. Since the positional relationship between the in-vehicle camera 31 and the position of each reference information changes with the movement of the host vehicle, the calculation is performed using the latest vehicle position information specified by the host vehicle position specifying unit 44. Further, in the present embodiment, since the imaging range of the in-vehicle camera 31 is positioned so as to be equivalent to the front field of view viewed from the viewpoint of the driver of the own vehicle, each reference in the front field of view that can be visually recognized by the driver. The position of information is calculated by the display position calculation unit 45.

  The drawing image data holding unit 47 is a storage device used to temporarily hold the image data drawn by the display information drawing processing unit 46.

  The display information drawing processing unit 46 is configured by a dedicated processor (GPU) for performing graphic drawing processing, and the position of each reference information calculated by the display position calculating unit 45 is defined as the boundary of the shooting range of the in-vehicle camera 31, Or it compares with the threshold value showing the boundary of the range of the forward visibility which a driver | operator can visually recognize, and only the reference information in a range is extracted as a display target. Then, each reference information to be displayed is, for example, visible information such as a character string pattern, a line pattern, a graphic pattern of a specific shape configured as a set of a large number of pixels, that is, a rectangular two-dimensional corresponding to the above range as image data Draw in the frame. In addition, image data suitable for overlapping with the video of the in-vehicle camera 31 and image data suitable for display on the HUD unit 20 can be drawn individually.

  The composite image generation unit 48 superimposes the two-dimensional image data of the video captured by the in-vehicle camera 31 and the two-dimensional image data of each reference information stored on the drawing image data storage unit 47 on a common frame. To generate composite image data.

  The composite image data output from the composite image generation unit 48 is input to the in-vehicle display 10 and displayed on a predetermined screen as a two-dimensional image. The driver can view this screen display while driving.

  The two-dimensional image data of each reference information held in the drawing image data holding unit 47 is read by the display information drawing processing unit 46 and input to the HUD unit 20. The HUD unit 20 projects a display image corresponding to the two-dimensional image data input from the drawing image data holding unit 47 toward the windshield WS. The light of the display image of the HUD unit 20 is reflected by the combiner on the windshield WS and travels in the direction of the driver's viewpoint. Then, the driver can visually recognize the display image of the HUD unit 20 as a virtual image that appears to be about 10 m ahead of the combiner, for example. At the same time, the driver can visually recognize the scene in the front view by the light transmitted through the windshield WS and the combiner.

<Operation of vehicle display device>
<When creating a composite image>
FIG. 2 shows an outline of the processing related to the composite image generation of the vehicle display device. That is, when generating a composite image to be displayed on the in-vehicle display 10, the display control unit 40 shown in FIG. 1 performs the control of FIG. FIG. 3 shows the positional relationship between the field of view of the in-vehicle camera and the display when a vehicle equipped with the vehicle display device is viewed from the side.

  In order for the driver to intuitively and correctly grasp the position of each reference information displayed in the composite image displayed on the in-vehicle display 10, the position within the imaging range of the in-vehicle camera 31, It is necessary that the position of the reference information to be displayed is not displaced on the same coordinates.

  For example, reference information such as log data collected when a vehicle travels on a road includes position information such as latitude / longitude in an actual three-dimensional space. For example, the position coordinates Pr_01 and Pr_02 shown in FIG. , Pr_03, and the position on the road surface of the road can be specified as a reference.

  On the other hand, although the vehicle-mounted camera 31 is fixed to the vehicle, the position and the shooting direction of the vehicle-mounted camera 31 itself change as the vehicle moves. As the vehicle moves, distances Lx_01, Lx_02, and Lx_03 between the in-vehicle camera 31 and the position coordinates Pr_01, Pr_02, and Pr_03 change.

  In addition, since the video in the field of view captured by the in-vehicle camera 31 is arranged at each position in the two-dimensional coordinate space, if the distance or direction between the in-vehicle camera 31 and the target changes, the position of the target is changed to the second of the video. It moves or changes in size in the vertical and horizontal directions on the dimensional coordinate space.

  Therefore, for example, in order to correctly display the reference information in a state where the reference information is superimposed on the video at the position coordinates Pr_01, Pr_02, and Pr_03 shown in FIG. 3, the position coordinates Pr_01, Pr_02, and Pr_03 in the three-dimensional space are displayed on the vehicle-mounted camera. It is necessary to perform coordinate transformation on the 31 two-dimensional coordinate space. Actually, when parameters such as relative distance, direction, and angle of view of the in-vehicle camera 31 are known, calculation can be performed based on these parameters and coordinate conversion can be executed. This coordinate conversion is performed by the display position calculation unit 45 shown in FIG. A specific processing procedure shown in FIG. 2 will be described below.

  In the “composite image generation” process shown in FIG. 2, in the first step S11, the display position calculation unit 45 obtains information on the current position Po (same as the shooting position of the camera) Po from the vehicle position specifying unit 44. To do.

  In the next step S12, the information position reading unit 43 acquires position coordinates (coordinates in a three-dimensional space) Pr on the road surface of each reference information Dr to be displayed. In step S13, the display position calculation unit 45 calculates distance information Lx representing the distance between the current position Po of the host vehicle and the position coordinates Pr of each reference information Dr. Further, based on the information on the traveling direction of the host vehicle, the deviation of the direction of each position coordinate Pr with respect to the reference direction of the shooting direction of the in-vehicle camera 31 is calculated.

  In step S14, the position information Pr of each reference information Dr is converted into a two-dimensional coordinate Pc1 of the camera field of view using the distance information Lx and the direction shift obtained in S13. Further, the two-dimensional coordinate Pc1 obtained here is compared with a threshold value indicating the range of the field of view of the in-vehicle camera 31, and the reference information Dr located outside the field of view is excluded from the display target (S15).

  When the processing of steps S12 to S15 is completed for all reference information Dr to be displayed, the process proceeds from step S16 to S17. In step S17, the distance information Lx obtained in S13 is compared to determine the priority of the reference information Dr. For example, the reference information Dr in a state in which the host vehicle is approaching generally has a tendency that the importance is higher as the distance is closer, so the priority of the reference information Dr that is closer to the distance is increased.

  In step S18, only a few reference information Dr with high priority determined in S17 are extracted, and the display information drawing processing unit 46 uses these reference information Dr patterns as a part of the two-dimensional image data. Draw in the storage area on 47.

  In step S19, the composite image generation unit 48 combines the two-dimensional image data of the video captured by the in-vehicle camera 31 with the two-dimensional image data including the reference information read from the drawing image data holding unit 47, It outputs to the vehicle-mounted display 10 as a synthesized image.

<For HUD display control>
FIG. 4 shows an outline of processing related to HUD display control of the vehicle display device. That is, when the reference information is displayed on the HUD unit 20, the display control unit 40 performs the control of FIG. Further, FIG. 5 shows the relationship between the virtual image forming plane of the HUD display and the display position when a vehicle equipped with the vehicle display device is viewed from the side.

  When projecting display information using the HUD unit 20, the driver must view the display image of the HUD that appears as a virtual image in a state of being superimposed on the scene of the front field of view that can be viewed while passing through the windshield WS. Can do. Therefore, by displaying the reference information in a HUD state in a state where the position does not deviate from the scene of the front view that is actually visually recognized by the driver during driving, the driver can intuitively and correctly grasp the position of the displayed reference information. .

  When the combiner in the HUD unit 20 mounted in the host vehicle or in the vicinity of the windshield WS includes a magnifying optical system, for example, as in the virtual image forming plane indicated by the dotted line in FIG. A virtual image displayed by the HUD is formed at a front position. Therefore, it is necessary to match the display position so that there is no positional shift between the scene of the front field of view visually recognized by the driver and the virtual image to be displayed at the position of the virtual image forming plane.

  For example, in order to display the reference information of the position coordinate Pr_01 on the road surface shown in FIG. 5 at the correct position on the HUD unit 20, a line segment connecting the driver's viewpoint position and the position coordinate Pr_01 and virtual image imaging It is necessary to determine the display position of the reference information by performing coordinate conversion so that a virtual image is displayed at the intersection with the surface. Further, the optimal virtual image display position changes due to the influence of the distance between the driver's viewpoint position and the reference information to be displayed or the inclination of the position of the reference information with respect to the traveling direction of the host vehicle.

  In consideration of the various effects as described above, the display position calculation unit 45 illustrated in FIG. 1 performs a coordinate conversion calculation so that the driver can visually recognize the virtual image of the reference information at a correct position without a sense of incongruity. A specific processing procedure shown in FIG. 4 will be described below.

  In the “HUD display control” process shown in FIG. 4, in the first step S21, the display position calculation unit 45 obtains information on the current position (equivalent to the driver's viewpoint position) Po from the own vehicle position specifying unit 44. get.

  In the next step S22, the information position reading unit 43 acquires position coordinates (coordinates in the three-dimensional space) Pr on the road surface of each reference information Dr to be displayed. In step S23, the display position calculation unit 45 calculates distance information Lx representing the distance between them based on the current position Po of the host vehicle and the position coordinates Pr of each reference information Dr. Further, the deviation of the direction of each position coordinate Pr with respect to the traveling direction of the host vehicle is calculated.

  In step S24, the position information Pr of each reference information Dr is coordinated to the two-dimensional coordinate Pc2 of the HUD display surface using parameters such as the distance information Lx, the direction shift, and the position of the virtual image forming surface obtained in S23. Convert. Further, the two-dimensional coordinate Pc2 obtained here is compared with a threshold representing the range of the driver's front visual field or the display range of the HUD unit 20, and the reference information Dr located outside the visual field is excluded from the display target. (S25).

  When the processing of steps S22 to S25 is completed for all reference information Dr to be displayed, the process proceeds from step S26 to S27. In step S27, the distance information Lx obtained in S23 is compared to determine the priority of the reference information Dr. For example, the reference information Dr in a state in which the host vehicle is approaching generally has a tendency that the importance is higher as the distance is closer, so the priority of the reference information Dr that is closer to the distance is increased.

  In step S28, only a few reference information Dr with high priority determined in S27 are extracted, and the display information drawing processing unit 46 uses these reference information Dr patterns as a part of the two-dimensional image data. Draw in the storage area on 47.

  In step S29, the HUD unit 20 inputs and displays the two-dimensional image data including the reference information read from the drawing image data holding unit 47. That is, two-dimensional image data including a reference information pattern is drawn on a two-dimensional display panel such as a liquid crystal built in the HUD unit 20, and this image is projected onto the windshield WS using illumination light such as a backlight. .

  Note that only the reference information is displayed on the HUD unit 20, and images taken by the in-vehicle camera 31 are not displayed on the HUD unit 20. Accordingly, the driver can visually recognize the pattern of the reference information displayed at a desired position as a virtual image while driving the host vehicle while being superimposed on the scene of the forward view.

<Description of specific examples>
<Specific example of display (1)>
A specific example (1) of the composite image output from the vehicle display device shown in FIG. 1 to the screen of the in-vehicle display 10 is shown in FIG.

  6 is a screen display of the in-vehicle display 10, but when the reference information is displayed using the HUD unit 20, the driver can visually recognize the same situation as the content of FIG. is there. Although the HUD unit 20 displays only the reference information, since the same scene as the content captured by the in-vehicle camera 31 is reflected in the forward view of the driving driver, the actual scene and the display of the HUD unit 20 are overlapped. By visually recognizing in the state, contents equivalent to the screen display of the in-vehicle display 10 can be visually recognized.

  The composite image shown in FIG. 6 includes two pieces of two-dimensional image data corresponding to video captured by the in-vehicle camera 31 and two-dimensional image data including display patterns of various reference information drawn by the display information drawing processing unit 46. It is the result of superimposing on the dimensional display space. That is, the driver can visually recognize the entire composite image shown in FIG.

  As shown in FIG. 6, the image taken by the in-vehicle camera 31 is the same as the scene of the front view visually recognized by the driver who drives the vehicle, such as the road surface in front of the road on which the vehicle is traveling and the surrounding scenery. Is reflected.

  In the composite image shown in FIG. 6, as a display pattern of various reference information drawn by the display information drawing processing unit 46, a travel line V1, a clipping point V2, a brake point V3, an accelerator point V4, a warning point V5, and three places are displayed. Vehicle state display patterns V61, V62, and V63 are included.

  Although not distinguishable from the contents of FIG. 6, the display pattern of various reference information is actually drawn in a characteristic color such as red so that it can be easily visually distinguished from the scene in the front view. ing. The display size of various reference information displayed is adjusted according to the distance between each display position and the viewpoint. That is, a display pattern at a close position is displayed large and a display pattern at a distant position is displayed small to express a sense of perspective.

  The travel line V1 represents a line along the actual travel route in the travel state of the vehicle recorded in the past as log data. In the example shown in FIG. 6, the travel line V1 has a certain width, and this width reflects the size of the horizontal G in the log data.

  The clipping point V2 is a mark representing a point where the speed has dropped most at a corner on the road in the traveling state of the vehicle recorded in the past as log data. In the example shown in FIG. 6, the clipping point V2 is represented by a star-shaped pattern. Is displayed at the corresponding position on the travel line V1.

  The brake point V3 is a mark representing a point on the road where braking has started in the traveling state of the vehicle recorded in the past as log data, and is represented by a thick upward arrow shape pattern in the example shown in FIG. Is displayed at the corresponding position on the travel line V1.

  The accelerator point V4 is a mark that represents a point on the road that has changed from a decelerating state to an accelerating state in the traveling state of the vehicle recorded in the past as log data. In the example shown in FIG. A mark represented by a pattern having a shape with a chipped lower side is displayed at a corresponding position on the travel line V1.

  The warning point V5 is a mark that represents a point on the road where an event to be warned, for example, a slip, has occurred in the traveling state of the vehicle recorded in the past as log data. In the example shown in FIG. A mark expressed by a triangular pattern is displayed at a corresponding position on the travel line V1.

  Each of the three vehicle state display patterns V61, V62, and V63 includes the vehicle state at each point on the road recorded in the past as log data, specifically the vehicle speed, the shift position of the transmission, and the lap time. It is displayed at the corresponding position as a character string pattern composed of characters and numerical values. In addition, each of the vehicle state display patterns V61, V62, and V63 encloses the outside of the long character string pattern with a rectangular pattern, and further connects the lead line to this to display the corresponding relationship with the corresponding position on the travel line V1. doing.

<Specific examples of travel log data>
FIG. 7 shows a specific configuration example of the travel log data used by the vehicle display device shown in FIG. That is, by reading and using the travel log data having the configuration as shown in FIG. 7, the vehicle display device can draw and display various reference information patterns as shown in FIG.

  In the example shown in FIG. 7, the travel log data includes a recording time, a recording position (latitude / longitude), a vehicle speed, a shift position, lateral G data, a steering angle, an accelerator → brake flag, a brake → accelerator flag, and a warning flag. Contains.

  Such travel log data can be automatically recorded during travel of the vehicle using, for example, a digital tachograph mounted on the vehicle, that is, an operation recorder. The travel log data is repeatedly acquired at a constant time interval, for example, once every 100 msec, and stored in a predetermined recording medium as time-series data. Data can be transferred from the recording medium to the travel log holding unit 42 and read by the vehicle display device. Of course, if a function equivalent to that of a digital tachograph is built in the vehicle display device, it is possible to read past travel log data without transferring data.

<Specific example of the travel line drawing process>
<Drawing multiple driving lines>
A specific example of a change in the travel line V1 drawn by the vehicle display device is shown in FIG. In FIG. 8, the horizontal axis represents a change with time, and the vertical axis represents a difference in position in the horizontal direction with respect to the traveling direction of the vehicle. Further, “actual travel line” in FIG. 8 indicates the line position of the route on which the host vehicle is currently traveling.

  When the travel log data as shown in FIG. 7 is used, the data of each point is obtained intermittently at regular time intervals. Therefore, when the travel line V1 as shown in FIG. 6 is drawn, the adjacent points are connected by a line and drawn as a continuous line. In addition, since the log position information includes an error, smoothing of a line to be drawn using an approximate curve is performed. For example, by calculating the horizontal position as a three-section moving average of points that appear sequentially in time series, smoothing as shown in FIG. 7 can be performed to draw a smooth line.

  Further, for example, in a situation where the same course is circulated many times in the circuit field, the log data for the previous lap, the log data for the previous lap, the log data for the previous lap, etc. can be read simultaneously. In such a case, a plurality of travel lines V1 such as a log data travel line one lap before, a log data travel line before the third lap, a log data travel line before the third lap, and the like are simultaneously drawn on the screen. You can also.

<Running line display according to the lateral G>
A specific example of line width control corresponding to the lateral acceleration (G) of the travel line to be drawn is shown in FIG.

  As shown in FIG. 9, the basic pattern width when drawing the travel line V1 is constant, and drawing is performed so that a pattern having a width corresponding to the lateral G is added to the left and right of this pattern. In the example shown in FIG. 9, the width of the pattern to be added is determined in units of 0.5G. For example, when 2G acceleration is received on the left, a quadruple width pattern of 0.5G is drawn on the left side adjacent to the travel line V1. In addition, when a 0.5G acceleration is received on the right, a single-width pattern of 0.5G units is drawn on the right side adjacent to the travel line V1, and when a 1.5G acceleration is received on the right. A pattern having a triple width of 0.5G is drawn on the right side adjacent to the travel line V1.

  Although FIG. 9 shows a state in plan view, since it is actually necessary to perform display corresponding to a perspective three-dimensional space as shown in FIG. 6, the travel line V1 to be drawn is also perspective. Draw to recreate the feeling. That is, the line width of the travel line V1 is increased at a close position, and the line width is decreased at a distant position.

<Specific example of display (2)>
A specific example (2) of the composite image output from the vehicle display device shown in FIG. 1 to the screen of the in-vehicle display 10 is shown in FIG.

  The display example shown in FIG. 10 is optimized so as to be able to provide useful information for the driver when a sports run is performed with a vehicle in a circuit field or the like. In other words, a display is provided to easily convey the behavior of the vehicle during driving to the driver.

  In the composite image shown in FIG. 10, in addition to the two-dimensional image data corresponding to the video of the in-vehicle camera 31 and the travel line V1, the memo point V21, the warning point V22, the steering angle difference display V23, and the grip state display. V24 and a vehicle state display pattern V25 are included.

  The memo point V21 is a mark representing a point recorded in the past by the driver's own manual operation. In the example shown in FIG. 10, a mark represented by a circle mark pattern is displayed at a specific position on the past travel route. Has been.

  The warning point V22 is, for example, a mark representing a point where oil on the road surface, tire dust, vehicle debris, or the like is present. In the example shown in FIG. 10, the mark represented by a white triangular pattern is a road. It is displayed in the corresponding position above. The original data of such warning points can be provided to the vehicle side by wireless communication from, for example, the information transmission source 51 managed by the circuit area.

  The steering angle difference display V23 represents the current situation of the host vehicle, not log data. Specifically, what is the difference between the current steering angle of the host vehicle and the actual traveling direction of the host vehicle, that is, the difference between the direction in which the tire is facing and the direction in which the host vehicle is actually traveling? A pattern that can be intuitively grasped from the display pattern visually recognized by the driver is displayed in real time. In the example shown in FIG. 10, a pattern similar to the contour shape of the host vehicle and a fan-shaped pattern representing the steering angle direction, the traveling direction, and the gap between them are adopted as the steering angle difference display V23.

  The information on the current steering angle can be obtained from the vehicle-side sensor by the vehicle display device. Moreover, the information on the actual traveling direction of the host vehicle can be grasped based on the information on the acceleration applied to the host vehicle. Further, if the information on the display state of the steering angle difference display V23 is recorded as log data, it is possible to read the log data and display the past state at the next traveling.

  The grip state display V24 represents the current situation of the host vehicle, not log data. Specifically, a pattern is displayed in real time so that the driver can intuitively grasp whether or not the driving tire of the host vehicle is currently gripping, that is, whether or not the vehicle is slipping. In the example shown in FIG. 10, a pattern representing the contour shape of the host vehicle and the shape of the drive tire is displayed, a red belt and a blue belt having different colors are displayed, and the grip over amount is indicated by the red belt. The band represents the grip limit.

  The vehicle information necessary for displaying the grip state display V24 can be calculated based on information representing the actual rotation status of each drive tire of the host vehicle and the actual moving speed of the host vehicle. The former information can be obtained from vehicle speed pulses of a vehicle speed sensor mounted on the vehicle, and the latter information can be obtained by integrating acceleration detected on the vehicle.

  The vehicle state display pattern V25 is a character pattern in which information representing numerical values representing differences between information representing past states (vehicle speed, shift position, lap time) read as travel log data and data representing the current state of the host vehicle is provided. Is displayed using.

  That is, the display control unit 40 of the vehicle display device acquires the travel log data and each data of the current vehicle, and displays the result of calculating the difference between the two as the vehicle state display pattern V25.

<Advantages of vehicle display device>
The vehicle display device shown in FIG. 1 uses, for example, various reference information associated with a position on the road in a composite image displayed on the in-vehicle display 10, for example, a travel line V1, a clipping point V2, The brake point V3, the accelerator point V4, the warning point V5, the vehicle state display patterns V61 to V63, and the like can be displayed at positions that match the situation of the driver's front view.

  In addition, when the reference information is projected by the HUD unit 20, the driving line V1, the clipping point V2, the brake point V3, and the accelerator point V4 are located at positions that match the situation of the driver's front view as in FIG. Warning points V5, vehicle state display patterns V61 to V63, etc. can be displayed.

  Therefore, as is clear from the content of FIG. 6, each position on the road associated with the driving line V1, clipping point V2, brake point V3, accelerator point V4, warning point V5, and vehicle state display patterns V61 to V63. Can be grasped intuitively and instantaneously from the contents visually recognized by the driver.

  For example, when the travel log data serving as reference information is a past travel log of a skilled driver or an instructor who is good at driving, the driver can determine the current position of the host vehicle and the displayed travel line V1. It becomes easy to grasp the positional relationship and drive the vehicle so as to pass through an ideal route close to the travel line V1 as a target route. In addition, as with the travel log, it is easy to perform a driving operation such that the brake is applied at the display position of the brake point V3 or the accelerator is depressed at the display position of the accelerator point V4. Further, it becomes easy to drive while taking care not to cause abnormal behavior due to tire slip at the display position of the warning point V5.

  In addition, when reflecting the size and direction of the lateral G in the line width of the displayed travel line V1 as shown in FIG. 9, the driver determines that the current position is in front of the displayed travel line V1. It is possible to intuitively predict the extent of the lateral G of the vehicle, and this information can be used for driving operation. That is, the traveling speed of the host vehicle can be adjusted, and the traveling route can be corrected.

  Further, as shown in FIG. 10, by displaying the steering angle difference display V23 as reference information, the driver can grasp the difference between the steering angle and the actual traveling direction of the vehicle in real time, so that the tire is slipped. Even when drifting, it is easy to accurately grasp the situation and perform the correct steering operation. In other words, it becomes possible to turn a curve at a high speed close to the limit of the characteristics of the vehicle and the road.

  Further, as shown in FIG. 10, by displaying the grip state display V24 as reference information, the driver can easily grasp the grip state of the tire. Therefore, an excessive accelerator opening operation can be avoided and an appropriate accelerator operation can be performed. As a result, useless wear of the tire can be suppressed.

  Further, as shown in FIG. 10, by displaying the vehicle state display pattern V25 as reference information, the driver can instantly grasp the difference between the travel log recorded in the past and the current vehicle state. That is, by displaying the difference, for example, the displayed numerical value is reduced, so that the time required for visually recognizing the display content can be shortened. Further, for example, it becomes easy to display the magnitude relationship between the travel log and the current state in a binary manner.

  Further, as shown in FIG. 10, by displaying the warning point V22 and the memo point V21 as reference information, it is possible to inform the driver of a dangerous place and the like, which can be used for avoiding danger.

  The display shown in FIGS. 6 and 10 assumes the case of a dedicated road such as a circuit field, but the above-described vehicle display device can also be used on a general road. For example, using travel log data recorded when another driver has traveled or information that can be acquired via wireless communication, you can display dangerous points on the road, or before a curve on a road with poor visibility By displaying an appropriate traveling speed, brake point, etc. for safely turning a curve, it is possible to drive more safely even when traveling on the first road.

Here, the features of the above-described embodiment of the vehicle display device according to the present invention are summarized and listed in the following [1] to [6], respectively.
[1] A vehicle display device for displaying predetermined reference information required by a driver during driving of the vehicle,
The reference information associated with the current position on the road is displayed at a position according to the situation of the front view in accordance with the current position on the actual road reflected in the front view visible to the driver. Display control unit (40),
A vehicle display device comprising:

[2] The display control unit outputs a composite image obtained by superimposing the reference information and a video in front of the vehicle, which is captured by at least an in-vehicle camera (31) mounted on the vehicle.
The vehicular display device according to the above [1], wherein

[3] The display control unit projects at least the reference information by a head-up display (HUD unit 20) mounted on the vehicle, and displays a virtual image of the reference information at a corresponding position in the front view.
The vehicle display device according to the above [1] or [2], wherein

[4] The display control unit uses, as the reference information, at least one of travel log data recorded during past vehicle travel and externally provided information that can be acquired from outside the vehicle by wireless communication. The display target information is extracted from the reference information by comparing the position information (position coordinates Pr on the road surface) included in each and the current position (Po) of the host vehicle, and is included in the display target information. The display position is determined based on the relative positional relationship between the position information and the current position of the host vehicle (S11 to S14).
The vehicular display device according to the above [1], wherein

[5] The display control unit preferentially handles a position where the distance between the position information included in each of the reference information and the current position of the host vehicle is small, and information on a position out of the front view of the reference information. For, lower the priority (S15, S17, S18),
The vehicular display device according to the above [1], wherein

[6] When the reference information includes a reference travel route and acceleration information for each position on the travel route,
The display control unit displays visible line information (travel line V1) indicating the reference travel route in the front field of view, and displays the magnitude of acceleration at each position on the travel route as the visible line information. (Refer to FIGS. 7 and 9)
The vehicular display device according to the above [1], wherein

DESCRIPTION OF SYMBOLS 10 In-vehicle display 20 HUD unit 31 In-vehicle camera 32 GNSS receiver 33 Communication device 40 Display control part 41 Reception information holding part 42 Travel log holding part 43 Information position reading part 44 Own vehicle position specifying part 45 Display position calculation part 46 Display information drawing Processing unit 47 Drawing image data holding unit 48 Composite image generation unit 51 Information source 52 GNSS satellite WS Windshield Po Current position Dr Reference information Pr Position coordinates on road surface Lx Distance information Pc1 Two-dimensional coordinates of camera field of view Pc2 HUD display surface Two-dimensional coordinates V1 Traveling line V2 Clipping point V3 Brake point V4 Acceleration point V5 Warning point V61, V62, V63 Vehicle status display pattern

Claims (6)

A display device for a vehicle for displaying predetermined reference information required by a driver during driving of the vehicle,
The reference information associated with the current position on the road is displayed at a position according to the situation of the front view in accordance with the current position on the actual road reflected in the front view visible to the driver. Display controller,
A vehicle display device comprising: The display control unit outputs a composite image obtained by superimposing the reference information and the video in front of the vehicle, which is taken by at least an in-vehicle camera mounted on the vehicle;
The vehicular display device according to claim 1. The display control unit projects at least the reference information by a head-up display mounted on the vehicle, and displays a virtual image of the reference information at a corresponding position in the front view.
The vehicle display device according to claim 1, wherein the display device is a vehicle display device. The display control unit uses, as the reference information, at least one of travel log data recorded during past vehicle travel and externally provided information that can be acquired from outside the vehicle by wireless communication, and is included in each of the reference information Information to be displayed is extracted from the reference information by comparing the position information and the current position of the host vehicle, and the relative position between the position information included in the information to be displayed and the current position of the host vehicle is extracted. Determine the display position based on the relationship,
The vehicular display device according to claim 1. The display control unit preferentially treats a position where the distance between the position information included in each of the reference information and the current position of the host vehicle is small, and gives priority to information on a position out of the front view of the reference information. Reduce the degree,
The vehicular display device according to claim 1. When the reference information includes a reference travel route and acceleration information for each position on the travel route,
The display control unit displays visible line information indicating the travel route for reference in the front field of view, and displays the magnitude of acceleration for each position on the travel route as the display thickness of the visible line information. Reflected in the
The vehicular display device according to claim 1.

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