JP4379600B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support device for a vehicle such as an automobile or a motorcycle, and more particularly to a driving support device that displays driving path information on a display unit and supports driving of a vehicle user.

  2. Description of the Related Art Conventionally, a head-up display device that displays a virtual image by projecting display light emitted from a display unit onto a windshield of a vehicle is known as a driving assistance device for a vehicle (see Patent Document 1). The display unit is, for example, a housing in which a display made of a liquid crystal display or the like and a reflecting mirror that reflects the display light emitted from the display are housed in a dashboard of a vehicle. It is what is done. The display light projected by the display unit is reflected by the windshield in the driver's (user's) line-of-sight direction, and the virtual image is displayed. According to this configuration, it is possible to display various information such as vehicle information such as vehicle speed and engine speed and navigation information on the windshield as the virtual image.

Moreover, what represents the shape of the front runway seen from the viewpoint of the vehicle driver is known as a driving assistance device that is a navigation device (see Patent Document 2). According to such a driving assistance device, even if it is difficult for the driver to visually see the actual shape of the road due to weather conditions, curves of the road, surrounding vehicles, buildings, and the like, the road shape displayed as a virtual image Thus, the actual running road shape can be grasped.
JP 11-310055 A JP 2000-211142 A

  However, the driving support device recognizes the shape of the road that is displayed as the virtual image by the driver, and grasps the actual shape of the road from the shape. While recognizing the updated track shape, whether the displayed track shape is a straight line or a curve, or whether it is a sharp curve that requires a brake operation, etc. Since it is difficult to judge, there is room for improvement as a system for supporting the driver on the preceding driving information.

  The present invention has been made in view of this problem, and provides a driving support device that makes it easy for the driver to grasp the shape of the road ahead of the vehicle, which is the preceding driving information, and can instantly recognize the state of the road. The purpose is to provide.

  According to the present invention, as in the driving support device according to the first aspect, the map information storage means for storing the map information composed of three-dimensional information, the display means for displaying the map information, and the current position of the host vehicle are detected. A driving support apparatus comprising at least position detection means and control means for reading the map information based on the current position of the host vehicle detected by the position detection means and displaying the route of the host vehicle on the display means. The control means calculates the position and center coordinates of the host vehicle based on position information from the position detection means, and calculates viewpoint reference coordinates based on the position and center coordinates and the earth center coordinates. Then, the running path shape related to the route in the traveling direction of the host vehicle is displayed from the viewpoint reference coordinates via the display means.

  Further, the driving support device according to claim 2 is the driving support device according to claim 1, wherein the control means includes a past position-center coordinate, a current position-center coordinate, a traveling direction offset amount, The travel direction coordinates are obtained based on the travel direction coordinates, and the travel path shape related to the route in the travel direction of the host vehicle is displayed via the display means based on the travel direction coordinates and the viewpoint reference coordinates.

  According to a third aspect of the present invention, there is provided the driving support apparatus according to the first aspect, wherein the control means is configured to calculate a target point based on a current position geocentric coordinate, the map information, and a traveling direction offset amount. While calculating | requiring a coordinate, based on the said target point coordinate and the said viewpoint reference coordinate, the runway shape regarding the said path | route of the advancing direction of the said own vehicle is displayed via the said display means.

  According to a fourth aspect of the present invention, there is provided the driving support apparatus according to the first aspect, wherein the control means offsets the viewpoint reference coordinates by a predetermined angle when displaying a running path shape having a curvature. The viewpoint offset coordinates are set, and based on the viewpoint offset coordinates and the target point coordinates, the running path shape related to the route in the traveling direction of the host vehicle is displayed via the display means.

  According to a fifth aspect of the present invention, there is provided the driving support apparatus according to the second or third aspect, wherein the control means inputs vehicle speed information of the host vehicle and responds to changes in the vehicle speed information. Thus, the advancing direction offset amount is changed.

  According to the present invention, as in the driving support device described in claim 6, in the driving support device described in claim 1, the display means is a head-up display device.

  A driving support device that displays driving path information on a display unit and supports driving of a vehicle user, wherein the driver grasps the shape of the driving road ahead of the vehicle, which is the preceding driving information, and instantly recognizes the state of the driving road. A possible driving assistance device can be obtained.

  Hereinafter, a driving support apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings. A vehicle head-up display device is used as the driving support device.

  1 and 2, reference numeral 1 denotes a display unit (display means). The display unit 1 is disposed in the dashboard of the vehicle A. The display light L projected by the display unit 1 is reflected in the viewpoint direction of the driver (user) D by the windshield W subjected to the combiner process, and the virtual image V is displayed. The driver D can observe the virtual image V superimposed on the landscape.

  Reference numeral 2 denotes a display. The display 2 is composed of a TFT type liquid crystal display element and backlight means. Reference numeral 3 denotes a circuit board, and the display 2 is mounted on the circuit board 3. Reference numeral 4 denotes a reflecting mirror. The reflecting mirror 4 reflects the display light L emitted from the display 2 to the windshield W. The reflecting surface 4a of the reflecting mirror 4 is concave, and the display light L from the display 2 can be enlarged and projected onto the windshield W. Reference numeral 5 denotes a holding member, and the reflecting mirror 4 is bonded to the holding member 5 with a double-sided adhesive tape. The display 2 is not limited to a configuration including a liquid crystal display element, and may be a configuration including an organic EL display panel, for example.

  Reference numeral 6 denotes a housing. The housing 6 accommodates the display 2, the circuit board 3, the reflecting mirror 4, and the like. The housing 6 is provided with a translucent cover 7 through which the display light L passes. The translucent cover 7 is made of a translucent resin such as acrylic and has a curved shape. The housing 6 is provided with a light shielding wall 6a to prevent a phenomenon (washout) in which external light such as sunlight is incident on the display 2 and the virtual image V becomes difficult to see.

FIG. 3 is a block diagram showing an electrical configuration of the vehicle head-up display device. The vehicle head-up display device includes a speed sensor 10 and a GPS (Global
Positioning System) It is mainly composed of a radio wave receiver (position detecting means) 11, a storage medium (map information storage means) 12, an operating means 13, a control means 14, and a display 2.

  The speed sensor 10 outputs a pulse signal serving as travel information to the control means 14 in accordance with the travel state of the vehicle (host vehicle) A.

  The GPS radio wave reception unit 11 includes a GPS reception antenna, amplifies a transmission radio wave as position information from an artificial satellite received by the reception antenna as a high frequency signal, and supplies the amplified radio wave to the control unit 14.

  The storage medium 12 is composed of a CD-ROM, DVD-ROM, hard disk or the like, and stores map data and three-dimensional information (hereinafter referred to as digital map data) indicating the road condition, and the digital map data is controlled. The drawing process is performed by the process described later by means 14. The digital map data includes runway shape data indicating the shape of the runway, height data indicating the height of the runway at a predetermined position, tilt data indicating right and left slopes of the runway, and curvature indicating the curvature of the runway. Has data etc.

  The operation means 13 has a plurality of switches such as a selection key and a determination key, and switches the display form and display settings of the road shape image and various three-dimensional data of the road. The driver can arbitrarily select the display form of the runway shape image and the three-dimensional data by operating the operation means 13.

  The control unit 14 includes a microcomputer (hereinafter referred to as a microcomputer) 15, a drive circuit 16, and a storage unit 17. The microcomputer 15 includes a CPU 15a, a ROM 15b, and a RAM 15c. The drive circuit 16 converts a control signal from the microcomputer 14 into a drive signal for the display device 2, and is electrically connected to the display device 2. The storage unit 17 is composed of an EEPROM, a flash memory, or the like, stores supplemental data for supplementing the digital map data, and the digital map data and the supplemental data are combined by a predetermined process by the microcomputer 15. The control means 14 inputs the position data of the vehicle A by the GPS radio wave receiving unit 11 and obtains the own vehicle position geocentric coordinates described in detail after the vehicle A, and the map data in the own vehicle position geocentric coordinates and The road condition data indicating the road condition ahead of the vehicle A is read from the storage medium 13 and a drawing process is executed, and an image having the drawn road shape is displayed on the display 2.

  Next, a processing flow for the drawing process of the control unit 14 will be described with reference to FIGS.

  When the position information (data) of the vehicle A is input from the GPS radio wave receiving unit 11, the control unit 14 performs a predetermined calculation and displays the vehicle A when viewed from the earth center on the digital map that is the three-dimensional coordinate of the vehicle A. A coordinate P1 (Xa, Ya, Za) of the vehicle A (hereinafter referred to as own vehicle position geocentric coordinate) is calculated (step S1).

  Next, as shown in FIG. 5, the control means 14 calculates viewpoint reference coordinates P2 based on the vehicle position geocentric coordinates P1 and the earth center coordinates P0 (step S2).

In step S2, the earth center coordinate P0 is set to (0, 0, 0), the own vehicle position geocentric coordinate P1 is set to (Xa, Ya, Za), the viewpoint offset amount L1, the own vehicle position geocentric coordinate P1 and the earth When the distance from the center coordinate P0 is La, the distance La can be expressed by the following equation (1). The viewpoint offset amount L1 is set so as to be 10 m to 30 m above the driver's line of sight of the vehicle A, and the runway shape is also a shape seen from 10 m to 30 m above the driver's line of sight.
La = sqrt (Xa · Xa + Ya · Ya + Za · Za) (1)
Accordingly, the viewpoint position coordinates P2 (Xb, Yb, Zb) can be obtained by the following equations (2), (3), (4).
Xb = (L1 + La) * Xa / La (2)
Yb = (L1 + La) * Ya / La (3)
Zb = (L1 + La) * Za / La (4)

  Next, as shown in FIG. 6, the control means 14 calculates the traveling direction coordinate P3 from the previous (previous) own vehicle position geocentric coordinate P1 ′ and the current vehicle position geocentric coordinate P1 (step S3). S3).

In step S3, the control means 14 sets the past vehicle position geocentric coordinates to P1 ′ (Xa ′, Ya ′, Za ′), and the current vehicle position geocentric coordinates to P1 (Xa, Ya, Za). The vehicle position geocentric coordinates P1 ′ and P1 are connected by a straight line, and the traveling direction offset amount provided in the extended portion of the straight line is L2, and the current vehicle position geocentric coordinate P1 and the previous vehicle position When the distance from the central coordinate P1 ′ is Lb, the distance Lb can be expressed by the following equation (5).
Lb = sqrt ((Xa-Xa '). (Xa-Xa') + (Ya-Ya '). (Ya-Ya') + (Za-Za '). (Za-Za')) (... 5)
Therefore, the traveling direction coordinates P3 (Xc, Yc, Zc) can be obtained by the following formulas (6), (7), (8).
Xc = (L2 + Lb) · (Xa−Xa ′) / La + Xa ′ (6)
Yc = (L2 + Lb) · (Ya−Ya ′) / La + Ya ′ (7)
Zc = (L2 + Lb) · (Za−Za ′) / La + Za ′ (6)
The control means 14 can input the travel information from the speed sensor 10, calculate the vehicle speed (speed information) by a predetermined calculation process, and vary the traveling direction offset amount L2 based on the vehicle speed. When the vehicle speed is high, the traveling direction offset amount L2 is lengthened, and when the vehicle speed is slow, the traveling direction offset amount L2 is set short.

  Next, the control means 14 determines whether or not the traveling direction coordinate P3 calculated in step S3 is located on the running path of the digital map data stored in the storage medium 12 (step S4). When it is determined that the direction coordinate P3 is not located on the running path of the digital map data, the traveling direction coordinate P3 is set as the target point coordinate P4 (step S5).

  On the other hand, if the control means 14 determines that the traveling direction coordinate P3 calculated in step S3 is located on the running path of the digital map data stored in the storage medium 12, as shown in FIG. The target point coordinate P4 is calculated from the own vehicle position geocentric coordinate P1 and the digital map data of the traveling direction of the vehicle A. Specifically, the control means 14 calculates the vehicle position geocentric coordinate P1 on the digital map data based on the position information from the GPS radio wave receiving unit 11, and the vehicle A is determined from the vehicle position geocentric coordinate P1. A point coordinate of a predetermined path L3 (hereinafter referred to as a traveling direction offset amount L3) geometrically calculated by a line segment, clothoid curve, arc, or the like along the traveling direction is a target point coordinate P4 (Xd, Yd, Zd). (Step S6). The control means 14 receives the travel information from the speed sensor 10, calculates the vehicle speed by a predetermined calculation process, and can change the traveling direction offset amount L3 based on the vehicle speed. When the vehicle speed is high, the traveling direction offset amount L3 is lengthened, and when the vehicle speed is slow, the traveling direction offset amount L2 is set short. The traveling direction offset amount L3 is, for example, 10 m to 100 m. Changed in range.

  Next, as shown in FIG. 8, the control means 14 has a curvature (hereinafter referred to as a curve) in the traveling path shape in the traveling direction of the vehicle A at the target point coordinates P4 on the digital map data calculated in steps S5 and S6. In the case where it has the above-mentioned size, the corrected viewpoint coordinates (viewpoint offset coordinates) P5 (Xe, Ye, Ze) are obtained (step S7). The control means 14 is set so as to satisfy the relationship of the following formula (7) when calculating the corrected viewpoint coordinates P5.

θ2 = α · θ1 (7)
The angle θ1 is an angle between the traveling direction coordinate P3 and the target point coordinate P4 with the own vehicle position geocentric coordinate P1 as a reference point, and the angle θ2 is the viewpoint reference coordinate with the own vehicle position geocentric coordinate P1 as a reference point. It is an angle formed by P2 and the corrected viewpoint coordinate P5, and α is a constant.

  This corrected viewpoint coordinate P5 is displayed in a drawing process, for example, in a runway shape where a right curve exists, by tilting the viewpoint reference coordinate P1 to the left by θ2 depending on the size of the curve, so that the runway shape is displayed more easily. Coordinates.

  The control means 14 executes a three-dimensional drawing process of the road shape from the corrected viewpoint coordinates P5 and the target point coordinates P4 calculated in Step S7 (Step S8). FIG. 9 shows a runway image projected onto the windshield W by the three-dimensional drawing process. In FIG. 9, 20 is a track index indicating the track shape, 21 is a curve index indicating the curvature of the curve, and 22 is a direction indication index indicating the curve direction.

  Such a driving support device includes a storage medium 12 that stores digital map data that is map information that is three-dimensional information, a display 2 that displays the map information, and a GPS radio wave receiver that detects the current position of the host vehicle A. 11 and a control means 14 that reads out the map information based on the current position of the host vehicle A detected by the GPS radio wave receiver 11 and displays the route of the host vehicle A on the display 2. The control means 14 calculates the vehicle position geocentric coordinate P1 of the own vehicle A based on the position information from the GPS radio wave reception unit 11, and the viewpoint reference coordinates from the vehicle position geocentric coordinate P1 and the earth center coordinate P0. P2 is calculated, and the display 2 displays the running road shape related to the route in the traveling direction of the host vehicle A from the viewpoint reference coordinates P2.

  Accordingly, since the viewpoint reference coordinates P2 are obtained from the own vehicle position geocentric coordinates P1 and the earth center coordinates P0, the exact position of the own vehicle A on the digital map (on the running path) can be obtained. In addition, the driver can grasp the shape of the traveling road ahead of the vehicle, which is the preceding traveling information, and can instantly recognize the state of the traveling road.

  Further, the control means 14 connects the past position and center coordinates P1 ′, the current position and center coordinates P1, and each position and center coordinates P1 ′ and P1 with a straight line, and the progress set on an extension of this straight line. Based on the direction offset amount L2, the traveling direction coordinate P3 is obtained, and based on the target point coordinate P4 and the viewpoint reference coordinate P2, the traveling path shape related to the path in the traveling direction of the host vehicle A is displayed. The target point coordinates P4 can be set by a simple method, and the calculation processing time can be shortened while displaying the traveling shape close to the actual traveling state. Further, the expression method can be easily switched by changing the parameter values of the traveling direction offset amounts L1 and L2.

  Further, the control means 14 obtains the target point coordinate P4 from the current position geocentric coordinate P1, the digital map data, and the traveling direction offset amount L3, and based on the target point coordinate P4 and the viewpoint reference coordinate P2. The traveling path shape related to the route in the traveling direction of the host vehicle A is displayed, and the target point coordinates P4 can be set by a simple method. Based on the target point coordinates P4 and the viewpoint reference coordinates P2. Since the running road shape can be displayed, the calculation processing time can be shortened while the running shape close to the actual running state is displayed. Further, the expression method can be easily switched by changing the parameter values of the traveling direction offset amounts L1 and L2.

  Further, the control means 14 sets a corrected viewpoint coordinate P5 obtained by offsetting the viewpoint reference coordinate P2 by a predetermined angle θ2 when displaying a running shape having a curvature, and the corrected viewpoint coordinate P5 and the target point coordinate P4 Based on the above, the road shape related to the route of the traveling direction of the host vehicle A is displayed. By providing a viewpoint in the curved direction of the curve, the road shape can be displayed more easily. Become.

  Further, the control means 14 changes the traveling direction offset amounts L2 and L3 according to the change of the vehicle speed obtained based on the traveling information from the speed sensor 10, and when the vehicle speed is high, the traveling direction offset When the amounts L2 and L3 are lengthened and the vehicle speed is slow, the travel direction offset lengths L2 and L3 are set short to change the length of the runway shape displayed according to the change in the vehicle speed. This makes it easier for the driver to understand the shape of the track, which is the preceding driving information.

  Further, since the vehicle head-up display device is used as the display means for displaying the runway shape, the driver of the vehicle A can easily grasp the runway information without changing the line of sight, and the merchantability as a driving support device. Can be improved.

  In the embodiment of the present invention, the vehicle head-up display device is taken as an example of the display means. However, a display means that allows the vehicle driver to directly view the display may be provided.

It is the schematic which shows the head-up display apparatus for vehicles which is a driving assistance device in embodiment of this invention. It is principal part sectional drawing of the head-up display apparatus for vehicles of embodiment same as the above. It is a figure which shows the electrical constitution of the head-up display apparatus for vehicles of embodiment same as the above. It is a figure which shows the process sequence in the control means of embodiment same as the above. It is a figure explaining how to obtain the viewpoint reference coordinates in the control means of the embodiment. It is a figure explaining how to obtain | require the advancing direction coordinate in the control means of embodiment same as the above. It is a figure explaining how to obtain the target point coordinates in the control means of the embodiment. It is a figure explaining how to obtain | require the correction | amendment viewpoint coordinate in the control means of embodiment same as the above. It is a figure which shows the runway shape obtained by the three-dimensional drawing process of the control means of embodiment same as the above.

Explanation of symbols

1 Display unit (display means)
2 Display 3 Circuit board 4 Reflecting mirror 5 Holding member 6 Housing 7 Translucent cover 10 Speed sensor 11 GPS radio wave receiver (position detecting means)
12 Storage medium (map information storage means)
14 Control means A Vehicle (own vehicle)
L Display light V Virtual image W Windshield P0 Earth center coordinates P1 Own vehicle position geocentric coordinates (current geocentric coordinates)
P1 'own vehicle position geocentric coordinates (past position geocentric coordinates)
P2 viewpoint reference coordinates (viewpoint offset coordinates)
P3 Advancing direction coordinates P4 Target point coordinates P5 Corrected viewpoint coordinates

Claims (6)

Map information storage means for storing map information composed of three-dimensional information, display means for displaying the map information, position detection means for detecting the current position of the own vehicle, and the own vehicle detected by the position detection means Control means for reading the map information based on the current position and displaying the route of the host vehicle on the display means,
The control means calculates position-center coordinates of the host vehicle based on position information from the position detection means, calculates viewpoint reference coordinates based on the position-center coordinates and earth center coordinates, A driving assistance apparatus for displaying a running path shape related to the route in the traveling direction of the host vehicle from a reference coordinate via the display means.   The control means obtains a travel direction coordinate based on a past position geocentric coordinate, a current position geocentric coordinate, and a travel direction offset amount, and based on the travel direction coordinate and the viewpoint reference coordinate, The driving assistance apparatus according to claim 1, wherein a running path shape related to the route in the traveling direction of the host vehicle is displayed via the display means.   The control means obtains a target point coordinate from a current position geocentric coordinate, the map information, and an advancing direction offset amount, and based on the target point coordinate and the viewpoint reference coordinate, the vehicle travels. The driving support apparatus according to claim 1, wherein a running road shape related to the route in the direction is displayed via the display means.   The control means sets a viewpoint offset coordinate obtained by offsetting the viewpoint reference coordinates by a predetermined angle when displaying a running path shape having a curvature, and based on the viewpoint offset coordinates and the target point coordinates, The driving assistance apparatus according to claim 1, wherein a running path shape related to the route in the traveling direction of the host vehicle is displayed via the display means.   4. The driving support device according to claim 2, wherein the control unit inputs vehicle speed information of the host vehicle and changes the traveling direction offset amount according to a change in the vehicle speed information. 5.   The driving support apparatus according to claim 1, wherein the display unit includes a head-up display device.

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