JP2020006743A - Vehicular projection control device, head-up display device, vehicular projection control method, and program - Google Patents

Abstract

To support that vehicle speed is kept constant by urging awakening and suppressing unintended deceleration when a driver feels drowsy.SOLUTION: A vehicular projection control device includes: a vehicle information acquisition section 32 which acquires vehicle information including vehicle speed; a preceding vehicle information acquisition section 33 which acquires preceding vehicle information indicating the presence or absence of a preceding vehicle; a drowsiness determination section 34 which determines drowsiness of a driver; a virtual vehicle video generation section 38 which generates virtual moving body video of a virtual moving body moving in the same direction as an own vehicle on a front side or a rear side of the own vehicle; and a projection control section 39 which controls the projection of the virtual moving body video so that a virtual image of the virtual moving body video generated by the virtual vehicle video generation section 38 is visually confirmed on the front side or the rear side of the own vehicle by a projection unit 20. The projection control section 39 controls the projection of the virtual moving body video so that the virtual image of the virtual moving body video is visually confirmed on the front side or the rear side of the own vehicle when it is determined that the driver feels drowsy on the basis of pupil positional deviation information calculated by the drowsiness determination section 34.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle projection control device, a head-up display device, a vehicle projection control method, and a program.

  2. Description of the Related Art A head-up display device that projects, as a virtual image, information provided to a driver, such as route guidance information or speed information, ahead of the driver's line of sight is known. An image of a leading virtual vehicle that travels a predetermined distance ahead of the host vehicle on the guide route is displayed on the windshield at a position that would be visible from the driver's viewpoint. Is known (for example, see Patent Document 1). 2. Description of the Related Art There is known a technology of displaying a virtual vehicle that teaches an operation to be taken by a vehicle at a position ahead of a vehicle by a predetermined distance (for example, see Patent Literature 2).

JP 2000-275057 A JP-A-2003-254774

  On a traveling road with little change in the scenery, there may be little drowsiness to the sight and drowsiness. You can take a break if there is a place where you can stop right away, but if you have a rest area such as an expressway, you must continue to run to that place, and you will be slowed down on the accelerator due to drowsiness and the vehicle will slow down This may lead to accidents and traffic jams.

  The present invention has been made in view of the above, and has as its object to assist the driver to keep a vehicle speed constant by promoting awakening and suppressing unintended deceleration when the driver becomes drowsy. .

  In order to solve the above-described problems and achieve the object, a vehicle projection control device according to the present invention includes a vehicle information acquisition unit that acquires vehicle information including a vehicle speed of a host vehicle, and a driver that drives the host vehicle. A drowsiness determining unit that determines sleepiness of the vehicle and a virtual moving object image of a virtual moving object that moves in the same direction as the own vehicle in front or behind the own vehicle, which is projected by the projection unit of the head-up display device. A virtual moving object image generation unit and a projection unit of a head-up display device, so that a virtual image of the virtual moving object image generated by the virtual moving object image generation unit can be visually recognized in front of or behind the own vehicle, A projection control unit that controls projection of the virtual moving object image, wherein the projection control unit controls the projection of the virtual moving object image based on the determination result of the drowsiness determining unit. Characterized in that it.

  A head-up display device according to the present invention includes the above-described projection control device for a vehicle, and the projection unit.

  A projection control method for a vehicle according to the present invention includes a vehicle information obtaining step of obtaining vehicle information including a vehicle speed of the host vehicle, a drowsiness determining step of determining drowsiness of a driver of the host vehicle, and a head-up display device. A virtual moving object image generating step of generating a virtual moving object image of a virtual moving object that moves in front of or behind the own vehicle in the same direction as the own vehicle, which is projected by the projection unit, and projection of the head-up display device A projection control step of controlling the projection of the virtual moving object image so that a virtual image of the virtual moving object image generated in the virtual moving object image generation step is visually recognized in front of or behind the own vehicle by the unit. Wherein the projection control step controls the projection of the virtual moving object image based on the determination result of the sleepiness determination step. That.

  The program according to the present invention includes a vehicle information obtaining step of obtaining vehicle information including a vehicle speed of the own vehicle, a drowsiness determining step of determining drowsiness of a driver driving the own vehicle, and a projection unit of a head-up display device. Projected, a virtual moving object image generating step of generating a virtual moving object image of a virtual moving object moving in the same direction as the front or rear of the host vehicle, and a projection unit of a head-up display device, A projection control step of controlling the projection of the virtual moving object image, such that a virtual image of the virtual moving object image generated in the virtual moving object image generation step is visually recognized in front or behind the own vehicle, The projection control step controls projection of the virtual moving object image based on a determination result of the sleepiness determination step. The be executed by a computer to operate as a vehicle for the projection control unit.

  ADVANTAGE OF THE INVENTION According to this invention, when a driver is drowsy, it is possible to promote awakening, suppress unintended deceleration, and assist in maintaining a constant vehicle speed.

FIG. 1 is a block diagram illustrating a configuration example of a vehicle projection control device according to the first embodiment. FIG. 2 is a diagram illustrating an example of a projection unit of the head-up display device according to the first embodiment. FIG. 3 is a diagram illustrating an example when the vehicle is traveling on a traveling road with little change in scenery. FIG. 4 is a diagram illustrating an example of a virtual image of a vehicle and a virtual vehicle image when the driver is drowsy while the vehicle is traveling on a traveling road with little change in scenery according to the first embodiment. FIG. 5 is a diagram illustrating an example of a virtual image of a virtual vehicle image visually recognized by the driver when the driver according to the first embodiment becomes drowsy. FIG. 6 is a flowchart illustrating a flow of processing in the vehicle projection control device according to the first embodiment. FIG. 7 is a diagram illustrating an example of a reference position determination image displayed by the vehicle projection control device according to the first embodiment. FIG. 8 is a diagram illustrating an example of a projection unit of the head-up display device according to the second embodiment. FIG. 9 is a diagram illustrating an example of a virtual image of a virtual vehicle image visually recognized by a driver when the driver according to the second embodiment becomes drowsy.

  Exemplary embodiments of a vehicle projection control device, a head-up display device (hereinafter, referred to as “HUD device”), a vehicle projection control method, and a program according to the present invention will be described in detail below with reference to the accompanying drawings. The present invention is not limited by the following embodiments.

[First embodiment]
FIG. 1 is a block diagram illustrating a configuration example of a vehicle projection control device according to the first embodiment. The HUD device 10 controls the vehicle projection control device 30 to project the virtual moving object image so that the virtual image of the virtual moving object image is visually recognized in accordance with the situation around the host vehicle V. In the present embodiment, the HUD device 10 controls the vehicle based on a sleepiness determination result based on arbitrary conditions such as when the driver becomes drowsy, in other words, when the driver collapses from a predetermined posture and the pupil position changes. The projection control device 30 controls to project the virtual vehicle image so that the virtual image 200 of the virtual vehicle image is visually recognized.

  The state where the driver is drowsy is a state where the pupil position of the driver is reciprocating in the up-down direction, the left-right direction or the front-back direction, and a state where the pupil position of the driver is not a predetermined position. For a predetermined time.

  The camera unit 100 has a camera that captures an image around the host vehicle V. A plurality of cameras may be arranged. In the present embodiment, the camera unit 100 has a front camera (not shown).

  The front camera is a front video camera. The front camera is arranged in front of the host vehicle V and captures an image of the periphery around the front of the host vehicle V. The forward video data is, for example, a moving image composed of 30 frames per second. The front camera outputs the captured front video data to the video data acquisition unit 31 of the vehicle projection control device 30.

  The driver monitor camera 110 photographs the driver's face. More specifically, since the image reflected by the windshield S reaches the driver's face from the HUD device 10, by inserting a reference position determination image into the image, the pupil and the reference position determination are performed as shown in FIG. The positional relationship with the reference line 300 included in the video for use is captured. The driver monitor camera 110 outputs the driver's face and the reference position determination video reflected on the driver's face to the drowsiness determination unit 34 of the vehicle projection control device 30 as video information.

  When the HUD device 10 determines that the driver is drowsy, the virtual vehicle image of the virtual vehicle that is the virtual preceding vehicle is a virtual image ahead of the driver's line of sight as the virtual moving object image of the virtual moving object. The driver is visually recognized as 200 (see FIG. 4). The HUD device 10 includes a projection unit 20 and a projection control device 30 for a vehicle.

  The projection unit 20 will be described with reference to FIG. FIG. 2 is a diagram illustrating an example of a projection unit of the head-up display device according to the first embodiment. The projection unit 20 has a projection unit 21 and reflects a display image displayed on the display surface of the projection unit 21 with the windshield S to make the driver visually recognize the virtual image as a virtual image.

  The projection unit 21 is a display including, for example, a liquid crystal display (LCD) or an organic EL (Organic Electro-Luminescence) display. In the present embodiment, the projection unit 21 is arranged inside the dashboard D. The projection unit 21 displays a display image on a display surface based on an image signal from the projection control unit 39 of the vehicle projection control device 30. The image display light of the display image displayed on the display surface of the projection unit 21 is projected on the windshield S.

  The vehicle projection control device 30 controls the projection unit 21 of the projection unit 20 to project the display image according to the situation around the host vehicle V. Further, in the present embodiment, the vehicle projection control device 30 controls the projection unit 21 of the projection unit 20 to project a display image when the host vehicle V is traveling on a highway. The vehicle projection control device 30 is, for example, an arithmetic processing device including a CPU (Central Processing Unit) and the like. The vehicle projection control device 30 loads a program stored in a storage unit (not shown) into a memory and executes a command included in the program. The vehicle projection control device 30 includes a video data acquisition unit 31, a vehicle information acquisition unit 32, a preceding vehicle information acquisition unit 33, a drowsiness determination unit 34, and a virtual vehicle video generation unit (virtual moving object video generation unit) 38. And a projection control unit 39. The vehicle projection control device 30 includes an internal memory (not shown), and the internal memory is used for temporarily storing data in the vehicle projection control device 30 and the like.

  The video data acquisition unit 31 acquires peripheral video data of the periphery of the vehicle V. More specifically, the video data acquisition unit 31 acquires the video data output by the camera unit 100. The video data obtaining unit 31 outputs the obtained video data to the preceding vehicle information obtaining unit 33.

  The vehicle information acquisition unit 32 acquires vehicle information indicating the status of the host vehicle V from the CAN, various sensors that sense the state of the host vehicle V, and the like. The vehicle information acquisition unit 32 acquires, for example, vehicle speed information. The vehicle information acquisition unit 32 outputs the acquired vehicle information to the virtual vehicle image generation unit 38. The vehicle information acquisition unit 32 stores the acquired vehicle speed information in an internal memory.

  The preceding vehicle information acquisition unit 33 acquires preceding vehicle information indicating whether there is a preceding vehicle traveling ahead of the lane in which the host vehicle V travels. In the present embodiment, the preceding vehicle information acquisition unit 33 performs image processing such as vehicle recognition processing on the video data acquired by the video data acquisition unit 31, and determines whether or not a preceding vehicle exists within a range equal to or less than the first distance. Is determined, and the determination result is obtained as preceding vehicle information.

  It is preferable that the first distance be in the range of several tens m or more and about 200 m or less. The first distance may be set according to the vehicle speed of the host vehicle V. For example, the first distance may be a safe inter-vehicle distance set according to the vehicle speed of the host vehicle V. Alternatively, for example, the first distance may be longer than a safe inter-vehicle distance set according to the vehicle speed of the host vehicle V. For example, on a highway, when the vehicle speed of the host vehicle V is 80 km / h, the first distance may be 80 m, and when the vehicle speed is 100 km / h, the first distance may be 100 m. For example, on a highway, when the vehicle speed of the host vehicle V is 80 km / h, the first distance may be 100 m, and when the vehicle speed is 100 km / h, the first distance may be 200 m.

  Alternatively, the preceding vehicle information acquisition unit 33 may determine, using a sensor unit (not shown), whether or not the preceding vehicle exists in a range equal to or less than the first distance, and acquire the determination result as the preceding vehicle information. The sensor unit can detect a preceding vehicle that is an obstacle in front of the own vehicle V. The sensor unit includes a plurality of sensors installed around the vehicle V. Each sensor is disposed in front of the host vehicle V and detects a vehicle in front of the host vehicle V. The sensor is, for example, an infrared sensor or an ultrasonic sensor, a millimeter wave radar, or the like, and may be configured by a combination thereof.

  The drowsiness determination unit 34 determines whether the driver is drowsy. In the present embodiment, the drowsiness determination unit 34 acquires the video information output from the driver monitor camera 110. The drowsiness determination unit 34 calculates the pupil position shift amount from a predetermined posture, the number of position shifts, and the position shift time indicating the drowsiness of the driver from the pupil position of the driver and the reference position determination image included in the image information. calculate. The drowsiness determination unit 34 outputs drowsiness determination information to the virtual vehicle video generation unit 38 from the calculated result.

  The predetermined posture will be described with reference to FIG. The predetermined posture is a state in which the pupil position of the driver M does not deviate from the reference position determination image 300, in other words, the driver M has a correct posture in which the head position of the driver M is the predetermined position. State. As shown in FIG. 7, when the reference position determination image 300 has a frame shape, the drowsiness determination unit 34 sets the pupil of the driver M within a threshold range from the middle portion of the pair of first reference position determination images 101. When the driver M is located and the pupil of the driver M is located within a threshold range from the middle part of the pair of second reference position determination images 102, the driver M is detected as having a predetermined posture. In addition, the drowsiness determination unit 34 determines that the pupil of the driver M is not located within the threshold range from the middle part of the pair of first reference position determination images 101, or that the pupil of the driver M is in the pair of second reference positions. When the driver M is not located within the threshold range from the intermediate portion of the determination image 102, it is detected that the driver M is not in the predetermined posture.

  The virtual vehicle image generation unit 38 generates a virtual vehicle image of a virtual vehicle moving in front of the host vehicle V in the same direction as the host vehicle V, projected by the projection unit 20 of the HUD device 10. The virtual vehicle image generation unit 38 generates a virtual vehicle image when it is determined that the driver is drowsy. Further, in the present embodiment, the virtual vehicle image generation unit 38 generates a virtual vehicle image when it is determined that the driver is drowsy while the host vehicle V is traveling on the highway.

  In the present embodiment, the virtual vehicle image is an image of a virtual vehicle moving a first distance ahead of the vehicle V. In the present embodiment, the virtual vehicle image is, for example, an image in which the host vehicle V is visually recognized from behind. The virtual vehicle image is generated by changing the viewpoint according to the shape of the road ahead of the host vehicle V by the first distance. For example, the virtual vehicle image is an image in which the host vehicle V is visually recognized from the rear right when the road ahead of the host vehicle V by the first distance is curved rightward. For example, the virtual vehicle image is an image in which the host vehicle V is visually recognized from the rear left when the road ahead of the host vehicle V by the first distance is curved leftward.

  In the present embodiment, the virtual vehicle image is an image of the virtual vehicle moving at the first vehicle speed that is the vehicle speed immediately before the driver is determined to be drowsy. The virtual vehicle image is generated by changing the size according to the change in the vehicle speed of the host vehicle V when the force on the accelerator pedal is reduced due to drowsiness. For example, the virtual vehicle image is an image of a certain size when the host vehicle V is traveling while maintaining the first vehicle speed. For example, the virtual vehicle image is an image in which the size of the virtual vehicle is enlarged such that the inter-vehicle distance becomes shorter when the host vehicle V has a vehicle speed higher than the first vehicle speed. For example, the virtual vehicle image is an image in which the size of the virtual vehicle is reduced such that the inter-vehicle distance becomes longer when the host vehicle V has a vehicle speed lower than the first vehicle speed.

  The projection control unit 39 projects the virtual vehicle image by the projection unit 20 of the HUD device 10 so that the virtual image 200 of the virtual vehicle image generated by the virtual vehicle image generation unit 38 is visually recognized in front of the host vehicle V. Control. More specifically, when it is determined that the driver is drowsy based on the drowsiness determination information determined by the drowsiness determination unit 34, the projection control unit 39 sets the virtual image of the virtual vehicle image in front of the host vehicle V. An image signal for projecting the virtual vehicle image is output to the projection unit 20 so that the image 200 can be visually recognized. Furthermore, in the present embodiment, when the driver is determined to be drowsy while the host vehicle V is traveling on the highway, the projection control unit 39 causes the virtual image 200 of the virtual vehicle image to be visually recognized. And control to project a virtual vehicle image.

  In the present embodiment, the virtual vehicle image generation unit 38 and the projection control unit 39, based on the calculated pupil position deviation information, elapse the threshold time or more in a state where the pupil position deviation amount from the predetermined posture is the threshold value or more. If this occurs, or if the state occurs more than a threshold number of times within a predetermined time, for example, five times or more per minute, the driver is determined to be drowsy. If the pupil position deviation from the predetermined posture is not equal to or larger than the threshold, or if the pupil position deviation from the predetermined posture is equal to or larger than the threshold, but the threshold time or more has not elapsed, and the threshold within the predetermined time If it does not occur more than the number of times, it is determined that the driver is not drowsy. By doing so, it is possible to prevent the virtual image 200 of the virtual vehicle image from being displayed carelessly by checking the surroundings by moving the face or blinking.

  The virtual image 200 of the virtual vehicle image projected when the driver is determined to be drowsy will be described with reference to FIGS. 3 to 5. FIG. 3 is a diagram illustrating an example when the driver is located on a traveling road with little change in scenery immediately before it is determined that the driver is drowsy. FIG. 4 is a diagram illustrating an example when it is determined that the driver is drowsy. FIG. 5 is a diagram illustrating an example of a virtual image of a virtual vehicle image visually recognized by a driver when it is determined that the driver is drowsy.

  As shown in FIG. 3, immediately before it is determined that the driver is drowsy, the virtual image 200 of the virtual vehicle image is not displayed.

  As shown in FIGS. 4 and 5, when it is determined that the driver is drowsy, the virtual vehicle image is projected so that the driver can visually recognize that the virtual vehicle is traveling ahead by the first distance. I do. In other words, the virtual image 200 of the virtual vehicle image is visually recognized so as to overlap the scene ahead of the first distance.

  Next, the flow of processing in the vehicle projection control device 30 will be described with reference to FIG. FIG. 6 is a flowchart illustrating a flow of processing in the vehicle projection control device according to the first embodiment.

  The vehicle projection control device 30 acquires the current position information of the host vehicle V (step S11). More specifically, the vehicle projection control device 30 causes the vehicle information acquisition unit 32 to acquire the current position information of the vehicle V from the navigation system. The vehicle projection control device 30 proceeds to step S12.

  The vehicle projection control device 30 determines whether or not the host vehicle V is traveling on a highway (step S12). More specifically, the vehicle projection control device 30 determines whether the current position of the host vehicle V is on a highway based on information acquired from the navigation system. When the vehicle projection control device 30 determines that the current position of the host vehicle V is on the expressway (Yes in step S12), the process proceeds to step S13. When the vehicle projection control device 30 determines that the current position of the vehicle V is not on the highway (No in step S12), the process proceeds to step S20.

  The vehicle projection control device 30 acquires pupil position shift information (step S13). More specifically, the vehicular projection control device 30 acquires the pupil position shift information by the drowsiness determination unit 34. The vehicle projection control device 30 proceeds to step S14.

  The vehicle projection control device 30 determines whether or not the driver is drowsy (step S14). In the present embodiment, the vehicle projection control device 30 is configured to control the projection control unit 39 based on the pupil position deviation information calculated by the drowsiness determination unit 34 in a state where the pupil position deviation amount from the predetermined posture is equal to or larger than the threshold value. If the threshold time has elapsed, it is determined that the driver is drowsy (Yes in step S14). Alternatively, the vehicle projection control device 30 determines that the state in which the pupil position shift amount from the predetermined posture is equal to or larger than the threshold value within the predetermined time period based on the pupil position shift information calculated by the sleepiness determination unit 34 by the projection control unit 39. It is determined that the driver is drowsy if the number of occurrences is equal to or more than the threshold number (Yes in step S14). Then, the vehicle projection control device 30 proceeds to step S15. The vehicular projection control device 30 uses the projection control unit 39 based on the pupil position deviation information calculated by the drowsiness determination unit 34, when the pupil position deviation amount from the predetermined posture is not equal to or larger than the threshold, or Even if the pupil position shift amount is equal to or greater than the threshold, if the threshold time or more has not elapsed, and if the threshold number of times has not occurred within the predetermined time, it is determined that the driver is not drowsy ( No in step S14). Then, the vehicle projection control device 30 proceeds to step S20.

  When it is determined that the driver is drowsy (Yes in step S14), the vehicle projection control device 30 acquires preceding vehicle information (step S15). More specifically, the preceding vehicle information acquisition unit 33 performs image processing such as a vehicle recognition process on the video data acquired by the video data acquisition unit 31 so that the preceding vehicle located at a distance less than or equal to the threshold from the host vehicle V as an object to be photographed. A vehicle is detected, and a detection result is acquired as preceding vehicle information. The vehicle projection control device 30 proceeds to step S16.

  The vehicle projection control device 30 determines whether or not the preceding vehicle exists at a distance equal to or less than the threshold (step S16). Based on the preceding vehicle information acquired by the preceding vehicle information acquiring unit 33, the vehicle projection control device 30 does not detect the preceding vehicle located at a distance less than or equal to the threshold from the host vehicle V, and the preceding vehicle is located at a distance less than or equal to the threshold. It is determined that it does not exist (Yes in step S16). Then, the vehicle projection control device 30 proceeds to step S17. The vehicle projection control device 30 detects, based on the preceding vehicle information acquired by the preceding vehicle information acquisition unit 33, a preceding vehicle located at a distance less than or equal to the threshold from the own vehicle V, the preceding vehicle is located at a distance less than or equal to the threshold. It is determined that it exists (No in step S16). Then, the vehicle projection control device 30 proceeds to step S20.

  When it is determined that the preceding vehicle does not exist within the distance equal to or smaller than the threshold (Yes in step S16), the vehicle projection control device 30 acquires the vehicle speed of the immediately preceding own vehicle V as the first vehicle speed (step S17). . More specifically, the vehicle projection control device 30 uses the projection control unit 39 immediately before the driver is determined to be drowsy based on the vehicle information acquired by the vehicle information acquisition unit 32 and stored in the internal memory. To get the first vehicle speed. In other words, the first vehicle speed is the vehicle speed immediately before the driver is determined to be drowsy.

  The vehicle projection control device 30 generates a virtual vehicle image (step S18). More specifically, the vehicle projection control device 30 causes the virtual vehicle image generation unit 38 to travel a first distance ahead of the host vehicle V at the first vehicle speed of the host vehicle V based on the first vehicle speed of the host vehicle V. A virtual vehicle image to be generated is generated. The vehicle projection control device 30 proceeds to step S19.

  The vehicle projection control device 30 outputs a control signal for projecting a virtual vehicle image (step S19). More specifically, the vehicle projection control device 30 causes the projection control unit 39 to output a control signal for projecting the virtual vehicle image generated by the virtual vehicle image generation unit 38 to the projection unit 20. The vehicle projection control device 30 proceeds to step S21.

  The vehicle projection control device 30 outputs a control signal for stopping the projection of the virtual vehicle image (Step S20). More specifically, the vehicle projection control device 30 outputs to the projection unit 20 a control signal for stopping the projection of the virtual vehicle image when the projection vehicle 39 is projecting the virtual vehicle image. When the projection control unit 39 does not project the virtual vehicle image, the vehicle projection control device 30 continues the state in which the virtual vehicle image is not projected. The vehicle projection control device 30 proceeds to step S21.

  The vehicle projection control device 30 determines whether or not there is an end trigger (step S21). The end trigger is, for example, when a button for ending the display of the virtual vehicle image is pressed or when the host vehicle V stops. If there is an end trigger, vehicle projection control device 30 determines to end the projection of the virtual vehicle image (Yes in step S21), and ends the process. When there is no end trigger, the vehicle projection control device 30 determines that the projection of the virtual vehicle image is not to be ended (No in step S21), and executes the process of step S11 again.

  In this manner, the vehicle projection control device 30 projects the virtual vehicle image such that the virtual image 200 of the virtual vehicle image is visually recognized only when it is determined that the driver is drowsy. The vehicle projection control device 30 does not project the virtual vehicle image when it is not determined that the driver is drowsy.

  As described above, in the present embodiment, the virtual vehicle image is projected such that the virtual image 200 of the virtual vehicle image is visually recognized only when it is determined that the driver is drowsy. In the present embodiment, when it is not determined that the driver is drowsy, the virtual vehicle image is not projected. As described above, according to the present embodiment, by visually recognizing the virtual image 200 of the virtual vehicle image, the driver can be awakened from the surprise of suddenly appearing a vehicle that has not existed until now.

  In the present embodiment, the virtual vehicle image is projected such that the virtual image 200 of the virtual vehicle image is visually recognized. According to the present embodiment, even when there is no preceding vehicle in front of the host vehicle V, the vehicle can travel so as to follow the virtual vehicle as in the case where the preceding vehicle exists.

  In the present embodiment, a virtual vehicle image traveling at the first vehicle speed immediately before the driver is determined to be drowsy is projected. By visually recognizing the virtual image 200 of the virtual vehicle image, the driver can awake and run following the virtual vehicle running at the first vehicle speed. According to the present embodiment, when it is determined that the driver is drowsy, it is possible to assist the driver to awake and travel while maintaining the vehicle speed of the host vehicle V at the first vehicle speed. As described above, according to the present embodiment, it is possible to prevent the driver from drowsiness and unintentional deceleration of the vehicle V.

  According to the present embodiment, it is possible to suppress the occurrence of accidents and traffic congestion due to the driver's depressing force on the accelerator pedal due to drowsiness on the highway and unintentional deceleration of the vehicle V.

  In the present embodiment, a virtual vehicle image is projected when no preceding vehicle exists at a distance equal to or less than the threshold. In the present embodiment, when projecting a virtual vehicle image, if a preceding vehicle is present at a distance equal to or less than a threshold, the projection of the virtual vehicle image is stopped. Accordingly, the present embodiment can project the virtual vehicle image only when there is no preceding vehicle. According to the present embodiment, it is possible to avoid a situation in which the preceding vehicle and the virtual image 200 of the virtual vehicle image overlap and the visibility is reduced.

[Second embodiment]
The HUD device 10 according to the present embodiment will be described with reference to FIGS. FIG. 8 is a diagram illustrating an example of a projection unit of the head-up display device according to the second embodiment. The HUD device 10A includes a projection unit 20 and a combiner 22. The projection unit 20 reflects the display image projected on the projection unit 21 (not shown) by the combiner 22 and allows the driver to visually recognize it as a virtual image. FIG. 9 is a diagram illustrating an example of a virtual image of a virtual vehicle image visually recognized by a driver when the driver according to the second embodiment is determined to be drowsy. The basic configuration of the HUD device 10A is the same as that of the HUD device 10 of the first embodiment. In the following description, the same components as those of the HUD device 10 will be denoted by the same reference numerals or corresponding reference numerals, and detailed description thereof will be omitted.

  A driver monitor camera (not shown) captures the driver's face. More specifically, since the image reflected by the combiner 22 reaches the driver's face from the HUD device 10A, the reference position determination image is inserted into the image, as shown in FIG. The positional relationship with the reference line included in the video is captured. The driver monitor camera outputs the driver's face and the reference position determination video reflected on the driver's face to the drowsiness determination unit 34 of the vehicle projection control device 30 as video information.

  When it is determined that the driver is drowsy, the HUD device 10A displays a virtual vehicle image of a virtual vehicle that is a virtual rear vehicle in front of the driver's line of sight as a virtual moving object image of the virtual moving object. The driver visually recognizes the virtual image 200A (see FIG. 9).

  In the present embodiment, the projection unit 21 is arranged on a ceiling in the vehicle interior. The projection unit 21 displays a display image on a display surface based on an image signal from the projection control unit 39 of the vehicle projection control device 30. The image display light of the display image displayed on the display surface of the projection unit 21 is projected on the combiner 22.

  The virtual vehicle image generation unit 38 generates a virtual vehicle image of a virtual vehicle moving behind the host vehicle V in the same direction as the host vehicle V, which is projected by the projection unit 20 of the HUD device 10A. The virtual vehicle image generation unit 38 generates a virtual vehicle image when it is determined that the driver is drowsy. Further, in the present embodiment, the virtual vehicle image generation unit 38 generates a virtual vehicle image when it is determined that the driver is drowsy while the host vehicle V is traveling on the highway.

  In the present embodiment, the virtual vehicle image is an image of a virtual vehicle moving a first distance behind the host vehicle V. In the present embodiment, the virtual vehicle image is, for example, an image in which the host vehicle V is visually recognized from the front. The virtual vehicle image is generated by changing the viewpoint in accordance with the shape of the road behind the own vehicle V by the first distance. For example, the virtual vehicle image is an image in which the host vehicle V is visually recognized from the left front when the road behind the host vehicle V by the first distance is curved rightward. For example, the virtual vehicle image is an image in which the host vehicle V is visually recognized from the front right when the road behind the host vehicle V by the first distance is curved to the left.

  In the present embodiment, the virtual vehicle image is an image of the virtual vehicle moving at the first vehicle speed that is the vehicle speed immediately before the driver is determined to be drowsy. The virtual vehicle image is generated by changing the size according to the change in the vehicle speed of the host vehicle V when the force on the accelerator pedal is reduced due to drowsiness. For example, the virtual vehicle image is an image of a certain size when the host vehicle V is traveling while maintaining the first vehicle speed. For example, the virtual vehicle image is an image in which the size of the virtual vehicle is reduced such that the inter-vehicle distance becomes longer when the host vehicle V has a vehicle speed higher than the first vehicle speed. For example, the virtual vehicle image is an image in which the size of the virtual vehicle is enlarged such that the inter-vehicle distance becomes shorter when the host vehicle V has a vehicle speed lower than the first vehicle speed.

  The projection control unit 39 projects the virtual vehicle image so that the virtual unit 200A of the virtual vehicle image generated by the virtual vehicle image generation unit 38 is visually recognized by the projection unit 20 of the HUD device 10A in front of the driver's line of sight. Control. More specifically, when it is determined that the driver is drowsy based on the drowsiness determination information determined by the drowsiness determination unit 34, the projection control unit 39 displays the virtual vehicle image in front of the driver's line of sight. An image signal for projecting a virtual vehicle image is output to the projection unit 20 so that the virtual image 200A is visually recognized. Further, in the present embodiment, when the driver is determined to be drowsy while the vehicle V is traveling on the highway, the projection control unit 39 causes the virtual image 200A of the virtual vehicle image to be visually recognized. And control to project a virtual vehicle image.

  As shown in FIG. 9, when it is determined that the driver is drowsy, the virtual vehicle image is projected so that the driver visually recognizes that the virtual vehicle is traveling behind the first distance. In other words, the virtual image 200A of the virtual vehicle image is visually recognized as if it is moving backward by the first distance through the virtual image type rearview mirror.

  As described above, the present embodiment projects the virtual vehicle image such that the virtual image 200A of the virtual vehicle image is visually recognized only when it is determined that the driver is drowsy. In the present embodiment, when it is not determined that the driver is drowsy, the virtual vehicle image is not projected. As described above, according to the present embodiment, by visually recognizing the virtual image 200A of the virtual vehicle image, it is possible to prompt the driver to awaken from the surprise that a vehicle that has not existed before suddenly appears. In addition, in the present embodiment, since the presence or absence of the preceding vehicle is checked, the force of depressing the accelerator pedal due to drowsiness is relaxed, and there is a concern that even if the accelerator pedal is depressed in a hurry by visually recognizing the approaching rear virtual vehicle image. There is no.

  Further, only when it is determined that the driver is drowsy, a pseudo horn sound from behind is added to the present embodiment, so that the sense of reality can be further increased.

  In the above, the HUD device 10 according to the present invention has been described, but may be implemented in various different forms other than the above-described embodiment.

  The illustrated components of the HUD device 10 are functionally conceptual, and need not necessarily be physically configured as illustrated. In other words, the specific form of each device is not limited to the one shown in the figure, and all or a part of each device may be functionally or physically dispersed or integrated in arbitrary units according to the processing load and usage status of each device. You may.

  The configuration of the HUD device 10 is realized by, for example, a program loaded into a memory as software. In the above-described embodiment, the description has been given as the functional block realized by the cooperation of the hardware or the software. That is, these functional blocks can be realized in various forms by only hardware, only software, or a combination thereof.

  The above-mentioned components include those that can be easily assumed by those skilled in the art and those that are substantially the same. Further, the above-described configurations can be appropriately combined. Further, various omissions, substitutions, or changes in the configuration can be made without departing from the spirit of the present invention.

  The virtual vehicle image generation unit has been described as the virtual vehicle image generation unit 38, but is not limited thereto. The image generated by the virtual moving object image generation unit may be a virtual moving object that moves in front of the host vehicle V at the first vehicle speed. For example, the virtual moving object may be an icon shaped like an arrow or a circle that moves in the moving direction of the vehicle V.

  The virtual vehicle image may generate a virtual vehicle image in a display mode in which a change in the speed of the host vehicle V can be confirmed when it is determined that the amount of change in the speed of the host vehicle V with respect to the first vehicle speed is equal to or greater than a threshold value. . For example, when the host vehicle V has a vehicle speed lower than the first vehicle speed, the virtual vehicle image may be, for example, an image in which the body of the virtual vehicle blinks or the color of the body is reduced. Thus, even when the force on the accelerator pedal is loosened due to drowsiness, the driver can be made aware that the vehicle speed of the vehicle V has decreased and awakened.

10, 10A HUD device 20 Projection unit 21 Projection unit 22 Combiner 30 Vehicle projection control device 31 Image data acquisition unit 32 Vehicle information acquisition unit 33 Prior vehicle information acquisition unit 34 Sleepiness determination unit 38 Virtual vehicle image generation unit (virtual moving object image) Generator)
39 Projection control unit 100 Camera unit 110 Driver monitor camera BM Virtual image type back monitor screen 300 Reference line

Claims (8)

A vehicle information acquisition unit that acquires vehicle information including the vehicle speed of the own vehicle,
A drowsiness determination unit that determines the drowsiness of the driver driving the vehicle,
Projected by the projection unit of the head-up display device, a virtual moving object image generation unit that generates a virtual moving object image of a virtual moving object that moves in the same direction as the own vehicle in front or behind the own vehicle,
By the projection unit of the head-up display device, the projection of the virtual moving object image is performed so that a virtual image of the virtual moving object image generated by the virtual moving object image generation unit is visually recognized in front of or behind the own vehicle. A projection control unit for controlling,
With
The projection control unit controls the projection of the virtual moving object image based on the determination result of the sleepiness determination unit,
A projection control device for a vehicle. The speed of the virtual moving object is the speed of the host vehicle immediately before the drowsiness of the driver driving the host vehicle is determined,
The projection control device for a vehicle according to claim 1. The drowsiness determining unit determines drowsiness from a captured image obtained by capturing the reference position determination image projected on the driver based on a relative position of the driver's pupil position with respect to the virtual image. And
When the drowsiness determination unit determines drowsiness of the driver of the host vehicle, the projection control unit may control the virtual mobile object image generated by the virtual mobile object image generation unit in front of or behind the host vehicle. Controlling the projection of the virtual moving object image so that a virtual image is visually recognized;
The vehicle projection control device according to claim 1. The virtual moving object image generation unit is configured to calculate a speed of the host vehicle with respect to a speed of the host vehicle immediately before a drowsiness of a driver driving the host vehicle is determined based on the vehicle information acquired by the vehicle information acquisition unit. When it is determined that the amount of change is equal to or greater than the threshold, a virtual vehicle image of a display mode capable of confirming a change in the speed of the vehicle is generated,
The projection control unit, based on the vehicle information acquired by the vehicle information acquisition unit, a change amount of the speed of the own vehicle with respect to the speed of the own vehicle immediately before the drowsiness of the driver driving the own vehicle is determined Is determined to be equal to or greater than the threshold, in front of or behind the host vehicle, in a display mode in which a change in the speed of the host vehicle can be confirmed, of the virtual moving object image generated by the virtual moving object image generation unit. Controlling the projection of the virtual moving object image so that a virtual image is visually recognized;
The vehicle projection control device according to any one of claims 1 to 3. It is a front head-up display that displays a virtual moving object moving in the same direction as the own vehicle in front of the own vehicle, and displays a virtual moving object moving in the same direction as the own vehicle behind the own vehicle. The projection control device for a vehicle according to any one of claims 1 to 4, wherein the device is a virtual image type rearview mirror. A vehicle projection control device according to any one of claims 1 to 5,
The projection unit;
A head-up display device comprising: A vehicle information obtaining step of obtaining vehicle information including a vehicle speed of the own vehicle,
A drowsiness determination step of determining drowsiness of a driver driving the own vehicle,
Projected by a projection unit of a head-up display device, a virtual moving object image generating step of generating a virtual moving object image of a virtual moving object moving in the same direction as the own vehicle in front or behind the own vehicle,
The projection of the virtual moving object image is performed by the projection unit of the head-up display device so that a virtual image of the virtual moving object image generated in the virtual moving object image generation step is visually recognized in front of or behind the own vehicle. A projection control step for controlling;
Including
The projection control step controls the projection of the virtual moving object image based on the determination result of the drowsiness determination step,
Vehicle projection control method. A vehicle information obtaining step of obtaining vehicle information including a vehicle speed of the own vehicle,
A drowsiness determination step of determining drowsiness of a driver driving the own vehicle,
Projected by a projection unit of a head-up display device, a virtual moving object image generating step of generating a virtual moving object image of a virtual moving object moving in the same direction as the own vehicle in front or behind the own vehicle,
By the projection unit of the head-up display device, the projection of the virtual moving object image is performed so that a virtual image of the virtual moving object image generated in the virtual moving object image generation step is visually recognized in front of or behind the own vehicle. A projection control step for controlling;
Including
The projection control step controls the projection of the virtual moving object image based on the determination result of the drowsiness determination step,
A program that causes a computer that operates as a projection control device for a vehicle to execute the above.