JP3412285B2 - Route guidance device for vehicles - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a route guide device for a vehicle using a head-up display device for guiding and assisting the running of the vehicle.

[0002]

2. Description of the Related Art As a conventional route guidance device for a vehicle using this type of head-up display device, there is one shown in FIGS. 19 and 20, for example. That is, the central processing unit 13Q has an input unit including the function selection switch 20 and the destination setting unit 21, and the map data storage unit 22.
Are connected. Further, the central processing unit 13Q is connected with a GPS antenna 23, a sign post antenna 25, a wheel speed sensor 27 and a gyro sensor 29 which constitute an antenna / sensor section for navigation, and a head-up display (hereinafter referred to as HUD). A HUD projector control unit 15 that controls the projector 14 is connected.

An illumination sensor 16 is connected to the HUD projector control section 15, and the function selection switch 20 sends a selection command to the destination setting section 21 and the HUD projector control section 15. Central processing unit 13Q
Is formed by a computer and includes a vehicle position detection unit 33, a route search unit 34, and a vehicle forward road estimation unit 35.

In this route guidance device, control processing is performed in the flow shown in FIG. First, when the route guidance function is selected by operating the function selection switch 20, in step 301, the destination setting unit 21 inputs information from the current position to the destination to which the vehicle travel is desired to be guided. In step 302, in the central processing unit, the route search unit 34 detects the vehicle travel guidance route based on the information input by the destination setting unit 21 and the map data stored in the map data storage device 22.

On the other hand, in step 303, in the vehicle position detecting section 33, the satellite signal SE of the position measuring satellite 24 received by the GPS antenna 23 and the signature from the sign post (beacon) 26 received by the sign post antenna 25 are sent. The post signal SS, the wheel speed data of the wheel speed sensor 27, the direction change signal SH by the gyro sensor 29, and the like are read. Then, in step 304, the map data in the map data storage device 22 is searched from the position data based on these signals, and in step 305, the current position of the host vehicle in the traveling area is obtained.

In the next step 306, the vehicle front road is further estimated and detected in the central processing unit 13Q based on the vehicle position detected above by the vehicle front road estimation unit 35 and the map data. Then, in step 307, the road ahead of the vehicle is compared with the previously determined vehicle travel guide route,
The HUD display image data including the road contour at the intersection to the guide route and the vehicle traveling direction is sent to the HUD projector control unit 15.

Then, in step 308, the HUD
The projector controller 15 causes the HUD projector 14 to display a HUD display image ZQ indicating the road contour and the traveling direction on the windshield based on the HUD display image data. At this time, the foreground W is detected by the illuminance sensor 16.
The brightness of the HUD display light L is adjusted,
The foreground W has a contrast. The HUD projector 14 is particularly shown in FIGS.
As shown in FIG. 24, the HUD display image ZQ is installed on the instrument panel 2 toward the windshield 3, and the HUD display image ZQ is located at a predetermined height C on the front line A-B of the driver 8 in front of the vehicle, or in FIG. As described above, the display is made so that the home position is slightly deviated in the lateral direction from the front line AB.

As a result, the driver 8 can advance the vehicle toward the destination by looking at the front intersection and the traveling direction displayed on the HUD. At this time, in order to compensate for the detection accuracy of the own vehicle position and to allow the driver to recognize the traveling direction at the next intersection with a sufficient margin, the HUD display image ZQ is long from the position very near to the intersection. Displayed over time.

[0009]

However, in such a conventional vehicle route guiding device, the above-mentioned HU is used.
Since the D display image ZQ is displayed in a position shifted to the front of the driver or one side in the vicinity thereof, the D display image ZQ is visible in the driver's visual field from the above-mentioned position until the intersection turns right or left, which causes annoyance. There is a problem. Similarly, when a large amount of HUD display such as the shape of an intersection (road contour) is performed near the driver's front for a long time, the display becomes noise when trying to obtain the foreground information through the windshield 3. , There is a risk of hindering front visibility. In particular, when trying to find the displayed intersection in the actual foreground, quick confirmation may be difficult.

When the HUD display image ZQ is displayed at a fixed position shifted to one side from the front of the driver, for example, a left turn instruction display is displayed on the right side of the driver front, or conversely, a right turn instruction display is on the left side. It is displayed on the screen and makes people feel uncomfortable due to annoyance and unnaturalness. Furthermore, HUD
Since the display position is fixed, the actual position and HUD of the front intersection
There is also a problem that the display cannot be matched and it is difficult to obtain a sense of distance.

Therefore, in view of the above-mentioned conventional problems, the present invention does not cause any inconvenience while displaying HUD for a predetermined time in order to allow a margin for recognition.
It is an object of the present invention to provide a vehicle route guidance device capable of quickly confirming the turning direction at the next intersection. Another object of the present invention is to provide a vehicular route guidance device that does not obstruct the display of the HUD and can easily obtain and confirm the foreground information. Furthermore, the present invention provides a natural sense of distance without relying on other information,
It is an object of the present invention to provide a vehicle route guidance device in which a HUD display is appropriately matched depending on a distance to a front intersection.

[0012]

Therefore, according to the present invention as set forth in claim 1, as shown in FIG. 1, the vehicle position detecting means 51 for detecting the vehicle position in the traveling area and the route to be guided. Route information detecting means 52 for detecting route information relating to a vehicle forward road including a traveling direction to the right or left of the vehicle, and a head-up display projector 54 which is supplied with display image data and superimposes it on the foreground for guidance display.
And projector control means 53 for generating display image data based on the route information and controlling display by the head-up display projector. The projector control means 53 determines the display position of the guide display as described above. It is configured to be controlled so that the position is shifted to the right or left from the front of the driver in accordance with the traveling direction.

Further, according to a third aspect of the present invention, as shown in FIG. 2, a vehicle position detecting means 51 for detecting the vehicle position in the traveling area, and a rightward or leftward traveling of the route to be guided. Route information detecting means 52 for detecting route information regarding a vehicle forward road including a direction, head-up display projector 54 'which is supplied with display image data to perform guidance display, and display image data is generated based on the route information. And a projector control means 53 'for controlling display by the head-up display projector, and the projector control means 53'.
Is the position where the display position of the guidance display is shifted from the driver's front side to the right or left by an amount corresponding to the distance to the target intersection that corresponds to the traveling direction and should proceed to the right or left. In the above, it is configured to control so as to display in the front position of the driver.

[0014]

According to the first aspect of the present invention, the own vehicle position detecting means 51 detects the own vehicle position in the traveling area, and based on the own vehicle position, the route information detecting means 52 determines the shape of the intersection or the route to be guided. The route information regarding the road ahead of the vehicle such as the traveling direction to the right or left of is detected. The projector control means 53 generates display image data based on the detected route information, and causes the head-up display projector 54 to display the same for display on the foreground .
At this time, the projector control means 53 shifts the display position of the above-mentioned guidance display to the right direction from the driver's front in the case of a right turn and the left side in the case of a left turn, in correspondence with the traveling direction detected as the route information. Display at the shifted position.
Since the guidance display is offset from the driver's front to the left and right and displayed on the corresponding side in the foreground, the displayed image does not obstruct the foreground visibility and is bothersome, while the displayed image is displayed on the left or right side. At that moment, the presence of the display can be recognized by peripheral vision.

The head-up display projector 54 is composed of two projectors which display at positions shifted to the right and left from the front of the driver, and the projector control means 53 generates display image data based on the route information. The guide display data calculation unit that performs the operation, and one of the two projectors according to the traveling direction included in the route information.
It is possible to display the above-mentioned guide display on the selected projector by including a projector selection unit for selecting.

According to the third aspect of the invention, the projector control means 53 'generates display image data based on the route information detected by the route information detecting means 52 and causes the head-up display projector 54' to display the data. At this time, the projector control means 53 'first corresponds to the traveling direction before the target intersection, which is to be traveled to the right or left, by a corresponding distance in the traveling direction. Display it at the position shifted to the left. Then, as the target intersection is approached, the amount of deviation is reduced and displayed in the driver's front position in the vicinity of the target intersection. Since the guidance display is first offset to the left and right from the front of the driver and displayed on the corresponding side in the foreground,
First, the presence of the display can be recognized by peripheral vision. Then, as the guide display is gradually moved from the right or left side of the driver's peripheral visual field toward the front of the center of the visual field, the distance to the target intersection can be naturally recognized.

The head-up display projector 54 'is configured to have a variable display position, and the projector control means 53' has a guide display data calculating section for generating display image data based on the route information and a traveling direction included in the route information. Further, it has a display position selection unit that selects a display position according to the distance to the target intersection, and the guide display can be displayed at the selected position.

Further, the guide display data calculation unit outputs image data only in the traveling direction according to the display position selected by the display position selection unit, and outputs the image data only in the traveling direction when the display position displacement amount is a predetermined value or more. When is smaller than a predetermined value, image data including the direction of travel and the road shape is output so that it is not bothersome to display a guidance display from a considerable distance before the target intersection, and the road shape is included near the intersection. Since the front display is in the front position, matching between the actual intersection visually recognized through the windshield and the guidance display can be naturally and quickly performed.

Further, the projector control means includes switching means for forcibly switching the display position selected by the display position selection section to the driver front position, and the guidance display data calculation section is forcibly switched to the driver front position. By outputting the image data for obtaining the detailed display including the traveling direction and the road shape corresponding to the position, the detailed HUD display can be obtained at any time without waiting until the vicinity of the intersection.
At this time, if the function selection switch provided on the steering unit is used for switching, the operation can be performed easily at hand. If the driver's line-of-sight direction is measured and the line-of-sight direction is switched when the line-of-sight direction coincides with the display position of the guidance display, a detailed display can be obtained in front by simply turning the line of sight to the display.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. FIG. 3 shows the configuration of the first embodiment of the present invention. The HUD projector control units 15A and 15B control the two HUD projectors 14A and 14B installed on the instrument panel 2 based on HUD display image data described later from the central processing unit 13.

As shown in FIG. 4, the HUD projectors 14A and 14B have LCDs in the instrument panel 2.
The display body 41 consisting of is arranged frontward, and the backlight light source 42 is provided on the rear side of the display body 41. A concave mirror 43 and a lens 44 are arranged in front of the display body 41 and in the opening of the instrument panel 2, respectively. The HUD display light L emitted from the display body 41 is reflected by the combiner 4 provided in the windshield 3. Then, the light enters the eyeball of the driver 8. As a result, a HUD display image (virtual image) Z is displayed as a guidance display for the foreground W of the vehicle. At this time, the HUD projector control unit 15A,
15B determines the brightness of the foreground W based on the signal from the illuminance sensor 16 and adjusts the luminance of the HUD display light L to give the foreground W a contrast.

GPS antenna 2 installed on the upper part of the vehicle body
In 3, the satellite signal SE from the positioning satellite is received,
The signpost (beacon) antenna 25 receives the signpost signal SS from the signpost and inputs the received signals to the central processing unit 13. Further, the wheel speed signal from the wheel speed sensor 27 and the direction change signal SH from the gyro sensor 29 are also input to the central processing unit 13. The central processing unit 13 is further connected with a function selection switch 20 configured as a steering switch and a destination setting unit 21 configured by a touch panel switch, and further connected with a map data storage device 22 storing map data. Has been done.

The function selection switch 20 is the central processing unit 1.
The entire system is turned on / off via 3 and is connected to the HUD projector control units 15A and 15B, and the HUD projector control unit is set to the route guidance display mode by the selection operation, and only the HUD display is temporarily set. Can be paused automatically. The touch panel switch forming the destination setting unit 21 is installed below the instrument panel 2. The destination setting unit 21 also functions by setting the touch panel switch in the route guidance display mode by the selection operation by the function selection switch 20.

The central processing unit 13 is formed by a computer and comprises a vehicle position detecting section 33, a route searching section 34, a vehicle front road estimating section 35, a guidance display data calculating section 36 and a projector selecting section 37. The vehicle position detection unit 33 includes a GPS antenna 23, a sign post antenna 25, a wheel speed sensor 27, and a gyro sensor 29.
The vehicle position is calculated based on the input from the map data and the map data from the map data storage device 22, and these form the navigation system as a whole.

The route search section 34 includes a function selection switch 20.
Based on the input information from the destination setting unit 21 and the data in the map data storage device 22, the route for vehicle travel guidance is searched. The vehicle front road estimation unit 35 calculates an intersection between the road ahead of the vehicle and the road to be guided based on the searched vehicle travel guidance route, the vehicle position, and the data of the map data storage device 22. Further, based on this calculation result, the guidance display data calculation unit 36 generates HUD display image data including the road shape and the vehicle traveling direction. Then, the projector selection unit 37 selects which of the HUD projectors 14A and 14B is to be operated based on the traveling direction included in the HUD display image data, and sets the HUD display image data to H.
Transfer to the UD projector control unit 15A or 15B. The overall layout is similar to that shown in FIG.

Next, the control operation of the above apparatus will be described with reference to the flowchart of FIG. First, the operation is started by operating the function selection switch 20 in a state where the route guidance function is selected. In step 101, the driver 7 uses the touch panel switch of the destination setting section 21 to obtain information on the destination to which the driver wants the vehicle to be guided on the screen displayed based on the data in the map data storage device 22, That is, (current position → passing point a → passing point b → …… →
Enter the required route information for the destination. In step 102, the route search unit 34 of the central processing unit 13 searches the map data stored in the map data storage device 22 based on the requested route information to detect the route for guiding the vehicle travel.

In step 103, the vehicle position detecting section 33 reads the navigation data received or calculated by the GPS antenna 23, the sign post antenna 25, the wheel speed sensor 27 and the gyro sensor 29, and in step 104. The map data storage device 22 is searched for map data based on the navigation data, and in step 105, the current position of the running vehicle is calculated.

In the next step 106, the vehicle front road estimating unit 35 determines the road ahead of the host vehicle, particularly the road ahead of the vehicle, from the route for guiding the vehicle traveling searched in step 102 and the current position calculated in step 105. And an intersection with the road to be guided are calculated, and the traveling direction of the vehicle is calculated by comparing with the route for guiding the vehicle traveling. Then, step 107
At, the guidance display data calculation unit 36 generates HUD display image data for guidance including the vehicle traveling direction as the route information.

Thereafter, in step 108, the projector selection unit 36 selects the HUD projector control unit 15A for operating the HUD projector 14A when the traveling direction is the right direction based on the vehicle traveling direction in the HUD display image data. When the traveling direction is the left direction, the HUD projector control unit 15B that operates the HUD projector 14B is selected, and the HUD display image data is transmitted. Then, in step 109, the HUD projector 1
4A or 14B is controlled and HUD as a guide display
Display Z is performed.

Two HUD projectors 14A, 14B
As shown in FIG. 6, the HUD display images ZB displayed by the HUD projector 14B on the left side are installed side by side on the instrument panel toward the windshield 3, and the HUD display image ZB is on the front side of the driver in front of the vehicle. The D position deviated to the left side, and the HUD projector 14A on the right side
The HUD display image ZA displayed by is set so as to be in the E position in front of the vehicle and shifted to the right from the driver's front line AB. Thus, taking the case of a left turn instruction as an example, the driver can see the HUD display image ZB as shown in FIG.
, Is observed superimposed on the foreground W.

Thereafter, the process returns to step 103, and the above steps are repeated as the vehicle travels. Steps 103 to 105 compose the vehicle position detecting means of the invention, and steps 101, 102, and 106 compose route information detecting means. And step 1
Reference numerals 07 and 108 constitute a head-up display control means, and HUD projectors 14A and 14B correspond to the head-up display projector of the invention.

As described above, according to this embodiment, the driver makes a left turn or a right turn H that matches the foreground he is looking at.
Since the UD guidance instruction is displayed on the corresponding side in the foreground by offsetting it from the driver's front side to the left and right, the HUD display image does not interfere with the foreground visibility first. Then, at the moment when the HUD display image is displayed on the left side or the right side, the presence of the display can be recognized first by the peripheral vision, and the HUD display image in the case of left turn is displayed in the right side. Therefore, when comparing the display with the foreground intersection, there is no ambiguity or discomfort, and the bending direction at the next intersection can be quickly determined. Furthermore, while approaching the next intersection, the driver can calmly determine the necessary motions at the intersection by peripheral vision, so the driver calms down when the surrounding conditions allow for the intersection shape and other details of the HUD display and other information. You can read the data provided by the means.

When displaying the traveling direction as the route information, it is possible to further display the traveling route which is not visible because it is shaded in the foreground. According to this, even when the driver cannot confirm the intersection due to the foreground W,
Since the position of the intersection can be grasped, the driver can prepare the driving operation after turning left or right at the front intersection.

Incidentally, the HUD projectors 14A, 14B
As an example, the one in which the light emitted from the display is projected on the windshield via the concave mirror and the lens is shown. In addition to this, a light emitting element surface directly facing the windshield or a scanning mechanism is provided. A device using a laser beam from a laser head can be appropriately used.

Next, FIG. 8 shows a second embodiment of the present invention. This is such that the HUD display image as the guidance display and its display position are changed according to the distance between the target intersection where the vehicle turns right and left. In this embodiment, the first
A central processing unit 13 'is provided instead of the central processing unit 13 in the above embodiment, and one HUD projector 14C is controlled by the HUD projector control unit 15C instead of the HUD projectors 14A and 14B.

The central processing unit 13 'includes the vehicle position detecting section 3
3, a route search unit 34, a vehicle front road estimation unit 35, a guidance display data calculation unit 36 ', and a display position selection unit 38. The own vehicle position detection unit 33 calculates the own vehicle position based on the inputs from the GPS antenna 23, the sign post antenna 25, the wheel speed sensor 27 and the gyro sensor 29 and the map data from the map data storage device 22. , They together form the navigation system.

The route search section 34 includes the function selection switch 20.
Based on the input information from the destination setting unit 21 and the data in the map data storage device 22, the route for vehicle travel guidance is searched. The vehicle front road estimation unit 35 calculates the intersection of the road in front of the vehicle and the road to be guided and the vehicle traveling direction based on the searched vehicle travel guidance route, the vehicle position, and the data of the map data storage device 22. To do. The display position selection unit 38
Based on the calculation result, that is, the display position of the HUD display image Z corresponding to the distance to the intersection is selected. Then, the guide display data calculation unit 36 'generates HUD display image data including the vehicle traveling direction or the vehicle traveling direction and the road shape in correspondence with the selected display position, and uses this image data as the HUD projector. It is sent to the control unit 15C.

As shown in FIG. 9, the HUD projector 14C has a display light emitting surface extending in the left-right direction, and based on the HUD display image data received from the guide display data calculation unit 36 'to the HUD projector control unit 15C. The HUD display image Z is displayed at the selected display position, for example, D ', D or the front C position. Other configurations are shown in FIG.
The same as the first embodiment shown in FIG.

Next, the control operation of this embodiment will be described with reference to the flow chart of FIG. Steps 201-206
Is the same as steps 101 to 106 in the flowchart of FIG. 5 in the first embodiment. In step 206, the intersection of the road in front of the vehicle and the road to be guided is calculated and the traveling direction of the vehicle is calculated. Then, in step 207, the display position selection unit 38 causes the HU corresponding to the distance to the intersection.
The display position of the D display image is selected.

Here, as the distance from the host vehicle to the target intersection to be displayed is larger, the distance from the driver's front is greatly shifted, and as shown in FIG. 9, the left turn is at the D'position, and the right turn is at the right turn. Is likewise selected for the right position. Then, as the target intersection approaches, a D position closer to the front position is set, and when reaching the vicinity of the intersection, the front C position is selected. This selected position can be changed continuously or may be set stepwise.

Then, in step 208, the guide display data calculation section 36 'generates HUD display image data corresponding to the selected display position, and sends this image data to the HUD projector control section 15C. On this occasion,
While the distance to the target intersection is large, that is, the display image displayed at the D'position is only the traveling direction display by the arrow or the like as shown in FIG. 11, and the road ( The HUD display image data, which is an image in which the (intersection) shape and the traveling direction are overlapped, is generated. Further, the image displayed at the front C position is a detailed display in which the road shape and the traveling direction are overlapped and the character information is also added. Further, the HUD projector control unit 15C determines the brightness of the foreground W by the illuminance sensor 16, and the HUD display light L changes to the foreground W.
To have a contrast to. Then, in step 209, based on the HUD display image data,
HUD display is performed by the HUD projector 14C.

Thereafter, the process returns to step 203, and the above steps are repeated as the vehicle travels. In this embodiment, steps 203 to 205 compose the vehicle position detecting means of the invention, and steps 201, 202 and 206 compose route information detecting means. Then, steps 207 and 208 constitute a head-up display control means, and the HUD projector 14C corresponds to the head-up display projector of the invention.

As described above, according to the second embodiment, the HUD display image indicating the left turn or right turn guidance instruction that matches the foreground seen by the driver is first offset to the left and right from the front of the driver. First, the HUD display image does not interfere with the foreground visibility, and at the moment when the HUD display image is displayed on the left side or the right side, the HUD display image is displayed on the corresponding side in the foreground. The presence can be recognized and the same effect as the previous example can be obtained. At this time, since the peripheral vision display only indicates the traveling direction, no annoyance is felt.

Further, since the HUD display image is gradually moved from the right side or the left side of the driver's peripheral visual field in the front direction of the visual field center, the HU is displayed without looking at other distance information.
By changing the position of the D display image, the distance to the target intersection can be naturally recognized. Similarly, since the detailed display including the road shape is displayed on the front as the intersection approaches, there is an effect that matching between the actual intersection visually recognized through the windshield and the HUD display image can be performed naturally and quickly.

FIG. 12 shows a third embodiment of the present invention.
In addition to the above-described second embodiment, the detailed display can be seen according to the driver's intention even when the distance to the target intersection is large. That is, in this embodiment, the function selection switch 20 'configured as a steering switch is connected to the HUD projector control unit 15C and also to the display position selection unit 38' having a detailed display selection function. A display selection ON / OFF command is input to the display position selection unit 38 '. The other configuration is the second shown in FIG.
Is the same as the embodiment described above.

Next, the control operation of this embodiment will be described with reference to the flowchart of FIG. Steps 201 to 206 are the same as those of the second embodiment shown in FIG. In step 206, the road ahead of the own vehicle is compared with the road to be guided to find the intersection, and the vehicle traveling direction is calculated. Then, in step 307A, the state of whether or not the detailed display is selected by the function selection switch 20 ′ is the display position. It is read by the selection unit 38 '. After this step 307
In B, the display position selection unit 38 'causes the HUD corresponding to the distance to the intersection and the state of the function selection switch 20'.
The display position of the display image is selected.

Here, first, when there is no ON command for selecting detailed display from the function selection switch 20 ', the larger the distance from the vehicle to the target intersection to be displayed is, the larger the distance from the driver's front is as in the previous embodiment. By shifting, for example, the position D'in FIG. 14 is selected. Then, it is selected so as to approach the front position as the target intersection approaches. On the other hand, when the ON command for the detailed display selection is input from the function selection switch 20 ', the front C position is selected regardless of the distance from the vehicle to the intersection.

Then, in step 208, the guide display data calculation unit 36 'generates HUD display image data corresponding to the selected display position, and this image data is set to H
It is sent to the UD projector control unit 15C. At this time, while the distance to the target intersection is large, that is, the display image Z1 displayed at the position D'is only the traveling direction display such as an arrow. Then, the detailed display image in which the road (intersection) shape and the advancing direction are added to the superimposed character information in the display image Z2 displayed at the front C position after the intermediate step of approaching the predetermined distance as in the previous embodiment. HUD display image data is generated.

Here, when the detailed display selection is turned on by the function selection switch 20 ', the front C position is forcibly selected as the display position as described above, and thus the generated HUD display image data is also detailed. It will be displayed. When the detail display selection is made by the function selection switch 20 'and then this is turned off, the HUD display image data to be displayed at the position corresponding to the distance to the target intersection is generated according to the normal process. To be done. The processing after step 208 is also the same as that in the previous embodiment.

This embodiment is constructed as described above, and normally, a simple HUD display image is first displayed at a position offset to the left and right without hindering visual recognition of the foreground, and gradually moved toward the front as the target intersection is approached. At the same time, detailed display including the road shape is performed. In addition to this, in particular, the function selection switch 20 ′ configured as a steering switch is provided with a detailed display selection function, and a detailed image is displayed on the front by selecting the detailed display. Just by operating, detailed H related to the intersection regardless of the distance to the front intersection
The UD display can be obtained at any time, and the content can be visually recognized with a margin in the front without having to keep the line of sight in the lateral direction for a long time. As a result, in addition to the effect of the second embodiment described above, it is possible to quickly know the intersection information to make a right turn or left turn when desired, without waiting until reaching the vicinity of the target intersection, and it is possible to drive without anxiety. Has the effect.

FIG. 15 shows a fourth embodiment of the present invention.
In the third embodiment, the detailed display is selected by the function selection switch of the steering switch, whereas the detailed display is switched by the driver's line of sight. That is, in this fourth embodiment,
The infrared light sources 46A and 46B, the infrared camera 47, and the line-of-sight direction measuring device 45 are added, and the output of the line-of-sight direction measuring device 45 is input to the display position selection unit 38 ″. As shown in FIG. 16, the outer camera is installed in the instrument panel 2 toward the driver's face, and two infrared light sources 46A and 46B are provided at different positions, and infrared rays from them are provided. Illuminates the entire eye range of the driver 8.

The image captured by the infrared camera 47 is obtained by superimposing the cornea reflection image and the retina reflection image of the driver's eyeball. The gaze direction measuring device 45 calculates the gaze direction S of the driver by performing image processing on the coordinate values of the corneal reflection image and the retina reflection image, and outputs this as the output. The other structure is the same as that of the second embodiment shown in FIG. The gaze direction measuring device 45 may be incorporated in the central processing unit 13 '.

Next, the control operation of this embodiment will be described with reference to the flow chart of FIG. Steps 201 to 206 are the same as those of the second embodiment shown in FIG. In step 206, the road ahead of the own vehicle is compared with the road to be guided to obtain the intersection, and the vehicle traveling direction is calculated. Then, in step 407A, the line-of-sight direction from the line-of-sight direction measuring device 45 is the display position selection unit 38 ″. After that, in step 407B, the display position selection unit 38 ″ selects the display position of the HUD display image corresponding to the distance to the intersection and the line-of-sight direction.

Here, it is first checked whether or not the line-of-sight direction S from the line-of-sight direction measuring device coincides with the display position of the HUD display image Z. In the case where the two do not match, including the time when a new HUD display image is about to be displayed, which is not yet displayed, as in the second embodiment, from the host vehicle to the target intersection to be displayed. The larger the distance is, the larger the distance is shifted from the front of the driver, and the position D ′ in FIG. 18, for example, is selected. Then, it is selected so as to approach the front position as the target intersection approaches. The selected display position is sent to the guide display data calculation unit 36 '.

On the other hand, after the display of the HUD display image is started, as shown in FIG. 16, the line-of-sight direction S obtained by the line-of-sight direction measuring device 45 is changed to the HUD projector 14 as shown in FIG.
When it coincides with the display position of the HUD display image Z formed by the display light L from C, this acts as a line-of-sight switch, and the front C position is selected regardless of the distance from the vehicle to the intersection. After that, in step 208, the guide display data calculation unit 36 'generates HUD display image data corresponding to the selected display position, and sends this image data to the HUD projector control unit 15C.

As a result, as shown in FIG. 18, while the distance to the target intersection is large, the display image Z1 only in the traveling direction is displayed at the position D'by a simple arrow, but the driver If the display position and the line-of-sight direction coincide with each other while paying attention to the display, the display position is changed to the front C position, and the detailed HUD display image Z2 in which the road shape and the traveling direction are added to the superimposed character information is displayed. . After that, when the driver's line of sight departs from the display at the front C position, the HUD display of the content corresponding to the distance is again performed at the position corresponding to the distance to the target intersection according to the normal processing. The processing after step 208 is also the same as in the second embodiment.

This embodiment is constructed as described above, and normally, a simple HUD display image is first displayed at a position offset to the left and right without hindering visual recognition of the foreground, and gradually moved toward the front as the target intersection is approached. At the same time, detailed display including the road shape is performed. And, especially with the line-of-sight direction measuring device, when the driver's line-of-sight direction and the display position match, the detailed image is displayed on the front, so I want to know the details of the contents easily displayed at the offset position. At this time, it is possible to obtain a detailed HUD display regarding the target intersection or the like simply by directing the line of sight to the display position at any time. As a result, similarly to the previous embodiment, without waiting until the vicinity of the target intersection, it is possible to quickly know the intersection information that should be turned right or left when desired, which has the effect of driving without anxiety, Moreover, since it is not necessary to operate any switch or the like, there is a merit that the driver can be afforded more.

[0058]

As described above, according to the present invention, a vehicle for guiding and displaying by superimposing it on the foreground with a head-up display based on the route information about the road ahead of the vehicle detected by the vehicle position detecting means and the route information detecting means. In the route guidance device, the display position of the guidance display is made to correspond to the traveling direction by the projector control means, and the display position is shifted to the right side from the driver's front in the case of a right turn, and to the left side in the case of a left turn. Therefore, the presence of the display can be recognized by the peripheral vision, and the guidance display is displayed on the corresponding side in the foreground by offsetting from the front of the driver to the left and right, so that the display image interferes with the foreground visibility. It is possible to prevent the inconvenience, and to quickly and easily determine the bending direction at the next intersection without feeling discomfort. Therefore, while approaching the next intersection, the required motion at the intersection has already been determined, so the driver can calm down and provide the intersection shape and other details of the HUD display and other means when the surrounding situation has a margin. You can also read the data etc.

Further, the display position of the guidance display is made to correspond to the traveling direction, and the shift amount to the right side or the left side is changed according to the distance to the target intersection so that it is displayed at the driver's front position near the target intersection. In the case of, the guidance display can recognize the presence of the display first by peripheral vision in the same manner as above, and further, as the target intersection is approached, the guidance display gradually shifts from the right or left side of the driver's peripheral visual field to the center of the visual field. Since it is moved in the front direction, there is an effect that the distance to the target intersection can be naturally recognized.

Further, the projector control means outputs image data only in the traveling direction when the deviation amount of the display position is greater than or equal to a predetermined value in accordance with the display position changing corresponding to the distance to the target intersection. When the amount of deviation is smaller than a predetermined value, image data including the direction of travel and the road shape is output, so that even if the guidance display is performed from a distance before the target intersection, it does not feel bothersome, and the road shape is displayed near the intersection. The display including is displayed in the front position, and the effect that the actual intersection visually recognized through the windshield and the guidance display can be naturally and quickly obtained is obtained.

Further, the projector control means includes switching means for forcibly switching the display position selected by the display position selecting portion to the driver's front position, and the guidance display data calculating portion includes the driver forcibly switched. By outputting the image data for obtaining the detailed display including the traveling direction and the road shape corresponding to the front position, the detailed HUD display can be obtained at any time without waiting until the vicinity of the intersection. At this time, if the function selection switch provided on the steering unit is used for switching, the operation can be performed easily at hand. If the driver's line-of-sight direction is measured and the line-of-sight direction is switched when the line-of-sight direction coincides with the display position of the guidance display, a detailed display can be obtained in front by simply turning the line of sight to the display.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of the present invention.

FIG. 2 is a block diagram showing a configuration of the present invention.

FIG. 3 is a block diagram showing a configuration of a first exemplary embodiment of the invention.

FIG. 4 is a diagram showing a structure of a HUD projector.

FIG. 5 is a flowchart showing a flow of control operation in the embodiment.

FIG. 6 is a diagram illustrating an arrangement and a display position of a HUD projector.

FIG. 7 is a diagram showing a display example by a HUD projector.

FIG. 8 is a block diagram showing a configuration of a second exemplary embodiment of the present invention.

FIG. 9 is a diagram illustrating an arrangement and display position of HUD projectors according to a second embodiment.

FIG. 10 is a flowchart showing a flow of control operation in the second embodiment.

FIG. 11 is a diagram showing an example of display contents corresponding to display positions.

FIG. 12 is a block diagram showing a configuration of a third exemplary embodiment of the present invention.

FIG. 13 is a flowchart showing the flow of control operation in the third embodiment.

FIG. 14 is an explanatory diagram showing an example of switching the HUD display.

FIG. 15 is a block diagram showing a configuration of a fourth exemplary embodiment of the present invention.

FIG. 16 is an explanatory diagram showing a layout of a gaze direction measuring unit.

FIG. 17 is a flowchart showing the flow of control operation in the fourth embodiment.

FIG. 18 is an explanatory diagram showing an example of switching HUD display.

FIG. 19 is a block diagram showing a conventional example.

FIG. 20 is a diagram showing an overall layout of a conventional example.

FIG. 21 is a flowchart showing a flow of control operation in a conventional example.

FIG. 22 is a diagram illustrating an arrangement and a display position of HUD projectors in a conventional example.

FIG. 23 is a diagram showing an example of HUD display in a conventional example.

FIG. 24 is a diagram showing a HUD display example in a conventional example.

[Explanation of symbols]

2 Instrument panel 3 Windshield 4 Combiner 8 Driver 13, 13 'Central processing unit 14, 14A, 14B, 14C HUD projector 15, 15A, 15B, 15C HUD projector control unit 16 Illuminance sensor 20, 20' Function selection switch 21 Destination setting unit 22 Map data storage device 23 GPS antenna 24 Position measurement satellite 25 Signpost antenna 26 Signpost 27 Wheel speed sensor 29 Gyro sensor 33 Own vehicle position detection unit 34 Route search unit 35 Vehicle forward road estimation unit 36 , 36 'Guidance display data calculation unit 37 Projector selection unit 38, 38', 38 "Display position selection unit 41 Display body 42 Backlight light source 43 Concave mirror 44 Lens 45 Gaze direction measuring device 46A, 46B Infrared light source 47 Infrared camera 51 Own vehicle position detection means 52 Road information detecting means 53, 53 'projector control unit 54, 54' head-up display projector L display light S viewing direction W foreground Z, ZQ HUD display image

─────────────────────────────────────────────────── --- Continuation of the front page (56) References JP-A 1-219883 (JP, A) JP-A 6-176296 (JP, A) JP-A 5-147455 (JP, A) JP-A 5- 256657 (JP, A) JP-A-6-230132 (JP, A) JP-A-3-54033 (JP, A) JP-A-6-247184 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G01C 21/00 B60R 27/00 G02B 27/02 G08G 1/0969

Claims (8)

(57) [Claims] 1. A vehicle position detecting means for detecting a vehicle position in a traveling area, and a route information detecting means for detecting route information about a vehicle forward road including a rightward or leftward traveling direction to a route to be guided. A head-up display projector which is supplied with display image data and is superimposed on the foreground for guidance display, and a projector which generates display image data based on the path information and controls display by the head-up display projector. Control means, and the projector control means controls the display position of the guidance display to be a position shifted to the right side or the left side from the front of the driver in correspondence with the traveling direction. And a vehicle route guidance device. 2. The head-up display projector comprises two projectors that display at positions shifted to the right and left from the front of the driver, and the projector control means generates display image data based on route information. And a projector selection unit that selects one of the two projectors according to the traveling direction included in the route information, and displays the guidance display on the selected projector. The route guidance device for a vehicle according to claim 1, wherein the route guidance device is provided. 3. A vehicle position detecting means for detecting a vehicle position in a traveling area, and a route information detecting means for detecting route information on a vehicle forward road including a rightward or leftward traveling direction to a route to be guided. A head-up display projector that is supplied with display image data to perform guidance display, and projector control means that generates display image data based on the path information and controls display by the head-up display projector. The projector control means sets the display position of the guidance display to a position corresponding to the traveling direction and shifted to the right or left from the front of the driver by an amount corresponding to the distance to the target intersection to proceed to the right or left. , Characterized in that it is controlled so as to be displayed at the driver's front position near the target intersection. And a vehicle route guidance device. 4. The head-up display projector is configured to have a variable display position, and the projector control means includes a guide display data calculation unit that generates display image data based on route information, and a traveling direction included in the route information. 4. The route guidance device for vehicles according to claim 3, further comprising a display position selection unit that selects a display position according to a distance to the target intersection, and displays the guidance display at the selected position. . 5. The guidance display data calculation unit determines, in accordance with the display position selected by the display position selection unit, only the traveling direction when the amount of deviation of the display position from the front of the driver is a predetermined value or more. The vehicle route according to claim 4, wherein image data for obtaining a display is output, and image data for obtaining a display including the traveling direction and the road shape is output when the deviation amount is smaller than a predetermined value. Guidance device. 6. The projector control means includes switching means for forcibly switching the display position selected by the display position selecting portion to a driver front position, and the guide display data calculating portion is forcibly switched. The image data for obtaining a detailed display including the traveling direction and the road shape corresponding to the front position of the driver is output.
Alternatively, the vehicle route guidance device according to item 5. 7. The vehicle route guide according to claim 6, wherein the switching means includes a function selection switch provided in a steering portion, and the switching is performed by operating the function selection switch. apparatus. 8. The switching means includes means for measuring a driver's line-of-sight direction, and performs the switching when the line-of-sight direction matches a display position of the guidance display. 6. The vehicle route guidance device according to item 6.