JP4807263B2 - Vehicle display device - Google Patents

Description

  The present invention relates to a display device for a vehicle that performs display on a windshield using a virtual image projection device, a light transmissive display device, or the like.

  Conventionally, a technique for displaying information such as vehicle speed and navigation information or a pedestrian in front of a vehicle by projecting an image on a windshield is known as a head-up display (for example, Non-Patent Document 1). reference). In this device, the displayed information is visually recognized by the driver as if it is reflected on the outside of the windshield.

Further, an invention of an image display device to which this technology is applied is disclosed (for example, see Patent Document 1). In this device, when a display object is detected within an area set in the traveling direction of the vehicle, display is performed according to the position of the display object, and when a display object is detected outside the area. Displays information indicating that the display object exists. In addition, there is a description about performing highlighting such as a display object in the region surrounded by a frame.
JP 2001-23091 A 10. Toyota Motor Corporation, "Crown Majesta New Model Car Description (Part No. 7109100)", Toyota Motor Corporation Service Department, issued July 5, 2004. Body & Electrical, p10-222 to 10-229, p10-275 to 10-277

  However, since the conventional head-up display device including the device described in Patent Document 1 projects a virtual image on a limited display area of the windshield, the line of sight when the driver sees the display area And the line of sight when the driver actually sees the display object through the windshield are different. For this reason, a driver who does not have a habit of frequently viewing the display area may be overlooked even if the corner display target object is highlighted. In addition, an image imitating the scenery in front is displayed in the display area, but since it is an image imitating the scenery to the end, it is not possible to intuitively grasp the sense of distance, urgency, etc. Appropriate driving operations (such as avoidance operations) may be delayed.

  The present invention has been made to solve such problems, and a main object of the present invention is to provide a vehicle display device capable of appropriately alerting the driver about the environment outside the vehicle.

  One aspect of the present invention for achieving the above object is a display device for a vehicle that performs a display that can be viewed from the interior of a vehicle in at least a part of a windshield, in a scenery outside the vehicle viewed from the viewpoint of the driver. The display is performed so as to be superimposed. Here, the “driver's viewpoint” may be detected by a stereo camera, an infrared sensor, or the like, or may be detected by radio waves output from glasses or sunglasses having a communication function. Alternatively, it may be estimated from a standard head position or the like.

  According to the aspect of the present invention, since the display is performed so as to be superimposed on the scenery outside the vehicle viewed from the viewpoint of the driver, the driver can intuitively grasp the display content and also pay attention to the display. This reduces the burden of attention when doing so. Accordingly, it is possible to appropriately alert the driver about the environment outside the vehicle.

  Also, one aspect of the present invention includes, for example, a display object recognition unit that recognizes a display object outside the vehicle, and a position specification unit that specifies the position of the display object recognized by the display object recognition unit. Based on the position of the display object specified by the position specifying means, the display object is highlighted so as to be superimposed on the display object viewed from the viewpoint of the driver. As a specific example in this case, a projection unit that projects an image on the windshield, a display position calculation unit that calculates a position on the windshield corresponding to the position of the display object viewed from the viewpoint of the driver, as a display position, It is conceivable to control the projection means so that a virtual image reflected in the eyes of the driver is superimposed on the display object by projecting an image on the display position.

  In one embodiment of the present invention, the display object includes at least one of a vehicle, a pedestrian, a signal, a road sign, and an emergency vehicle, for example.

  Further, in one aspect of the present invention, there is provided a predetermined traveling situation determination unit that determines whether or not the vehicle is in a predetermined traveling situation that requires a brake operation, and the display object includes a brake lamp of a preceding vehicle, It is preferable that the brake lamp of the preceding vehicle is highlighted at the position on the windshield calculated by the display position calculation means when it is determined by the travel situation determination means that the vehicle is in a predetermined travel situation that requires braking operation of the host vehicle. is there. In this case, it is preferable that the highlight display of the brake lamp of the preceding vehicle is a display that simulates the brake lamp of the preceding vehicle turned on.

  By these, the driver can make an illusion that the preceding vehicle has stepped on the brake, and intuitively recognize that the brake operation is necessary also in the own vehicle. Accordingly, the driver can perform the brake operation at a faster response speed than a display device that simply displays a message such as “Brake is necessary” or “Cautions ahead”. Furthermore, the attention burden when the driver pays attention to the display is reduced.

  Further, in one aspect of the present invention, the vehicle includes a predetermined traveling situation determination unit that determines whether or not the traveling condition of the host vehicle needs to be changed, and the display object includes a direction indicator of a preceding vehicle, When the predetermined traveling situation determination means determines that the vehicle is in a predetermined traveling situation that requires a course change, the direction indicator of the preceding vehicle is highlighted at the position on the windshield calculated by the display position calculation means. Is preferable.

  As a result, the driver can determine that the preceding vehicle will change the course from now on, and can intuitively recognize that the course of the vehicle needs to be changed. Therefore, compared with a display device that simply displays a message such as “Need to change the course to the left (or to the right)”, the driving vehicle is more naturally prepared for deceleration, forward warning, etc. Can be performed. Furthermore, the attention burden when the driver pays attention to the display is reduced.

  In one aspect of the present invention, the vehicle includes a deceleration specifying unit that specifies a deceleration of the preceding vehicle, and a lighting state detecting unit that detects a lighting state of a brake lamp of the preceding vehicle. As if the brake lamp of the preceding vehicle is lit when the deceleration exceeding the speed is specified and the predetermined condition including that the brake lamp of the preceding vehicle is not lit is detected by the lighting state detection means It is good also as what is characterized by carrying out the pseudo display.

  In this way, the driver has the illusion that the preceding vehicle has stepped on the brake, and can intuitively recognize that the brake operation is necessary even in the own vehicle. Accordingly, the driver can perform the brake operation at a faster response speed than a display device that simply displays a message such as “Brake is necessary” or “Cautions ahead”. Furthermore, the attention burden when the driver pays attention to the display is reduced. In addition, it is possible to perform display limited to more necessary scenes.

  In one aspect of the present invention, a relative relationship specifying unit that specifies a relative relationship between the preceding vehicle and the host vehicle, and whether or not a warning is necessary based on the relative relationship between the preceding vehicle and the host vehicle specified by the relative relationship specifying unit. A warning necessity determining means for determining whether or not a lighting state of a brake lamp of a preceding vehicle is detected, the warning necessity determining means determines that a warning is necessary, and the lighting state detection means When a predetermined condition including that it is detected that the brake lamp of the preceding vehicle is not lit is satisfied, a display that simulates that the brake lamp of the preceding vehicle is lit may be displayed. Here, the “relative relationship” is, for example, either or both of the relative speed and the inter-vehicle distance. Further, it may be an inter-vehicle time determined by both the relative speed and the inter-vehicle distance.

  In this way, the driver has the illusion that the preceding vehicle has stepped on the brake, and can intuitively recognize that the brake operation is necessary even in the own vehicle. Accordingly, the driver can perform the brake operation at a faster response speed than a display device that simply displays a message such as “Brake is necessary” or “Cautions ahead”. Furthermore, the attention burden when the driver pays attention to the display is reduced. In addition, it is possible to perform display limited to more necessary scenes.

  Further, in one aspect of the present invention, in the case where the display is performed under a predetermined condition including that the brake lamp of the preceding vehicle is not lit by the lighting state detection means, A decelerating intention detecting unit that detects an intention is provided, and the predetermined condition may further include that the decelerating intention of the driver of the host vehicle is not detected by the decelerating intention detecting unit.

  Further, in one aspect of the present invention, the apparatus including a warning necessity determination unit includes a deceleration tendency learning unit that learns a driver's deceleration tendency, and the warning necessity determination unit is a driving learned by the deceleration tendency learning unit. It is good also as a means which determines whether a warning is required based on a person's deceleration tendency.

  ADVANTAGE OF THE INVENTION According to this invention, the display apparatus for vehicles which can perform appropriate alerting regarding the environment outside a vehicle with respect to a driver | operator can be provided.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings.

[First embodiment]
Hereinafter, the display apparatus 1 for vehicles which concerns on 1st Example of this invention is demonstrated. The vehicle display device 1 is a device that performs display on the windshield so as to be superimposed on the scenery outside the vehicle viewed from the driver, using a head-up display device, a light-transmissive display device, or the like.

  FIG. 1 is a diagram illustrating an example of the overall configuration of the vehicle display device 1. The vehicle display device 1 recognizes a display object and detects the position of the camera 10, the radar device 20, and the communication device 30, and a HUD unit 50 that projects a virtual image on the front windshield 40, driving Vehicle interior cameras 60A and 60B for recognizing the user's viewpoint, and a display device ECU (Electronic Control Unit) 70 for controlling the entire apparatus. In this figure, the flow of information communication is indicated by broken-line arrows, and the in-vehicle communication is performed using an appropriate communication protocol such as CAN (Controller Area Network), BEAN, or AVC-LAN.

  The vehicle exterior camera 10 is a camera that uses an image sensor such as a CCD (Charge-Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) disposed in the upper part of the windshield 40, and images the front of the vehicle. The captured image of the vehicle exterior camera 10 is transmitted to the display device ECU 70 as an image signal generated by an interlace method such as NTSC (National Television Standards Committee).

  The radar device 20 is, for example, a millimeter wave radar device disposed behind the front grille, and uses the time until the reflected wave of the millimeter wave returns, the angle of the reflected wave, and the frequency change of the object. Detect direction, speed. The radar apparatus 20 periodically performs such detection, and transmits information related to the detected object to the display apparatus ECU 70. In addition to the millimeter wave radar device, laser radar, infrared radar, sonar, stereo camera device, etc. can be considered as means for detecting the distance of the object.

  The communication device 30 includes a receiver for receiving service information transmitted from an information center, which is a facility for providing private information services, via a wireless network such as a mobile phone, a beacon receiver, FM / AM broadcasting Includes receivers, receivers for DSRC (Dedicated Short Range Communication), and the like. DSRC is a communication technique that has already been put into practical use in ETC (Electronic Toll Collection System) and means dedicated narrow-area communication. The communication device 30 receives various types of information outside the vehicle by such various communication modes and transmits them to the display device ECU 70. Note that the communication device 30 may operate in a state where information can be received at all times, or may operate (becomes in a receivable state) according to an instruction from the display device ECU 70. In addition, the communication device 30 is a GPS receiver for identifying the current position of the host vehicle, and a reference station used for DGPS (Diffrential GPS) and RTK-GPS (Real Time Kinematic GPS). A reference station radio wave receiver for receiving radio waves from may be included.

  The front windshield 40 is formed of, for example, a light-transmitting material such as glass, blocks the outside of the vehicle and the interior of the vehicle, and allows passengers including the driver to see the scenery outside the vehicle.

  FIG. 2 is a cross-sectional view showing the configuration of the HUD unit 50. The HUD unit 50 projects a video image on the display position on the windshield 40, so that the HUD unit 50 is a virtual image as if it exists at an extended line position (a position outside the vehicle) when the display position is viewed from the driver's viewpoint. , Display the contents of the video.

  The HUD unit 50 is entirely accommodated in a recess 42A formed on the upper surface of the instrument panel 42, for example. A liquid crystal display 52 that is disposed on the back side of the combination meter 44 and emits light in the traveling direction of the vehicle, and a reflecting mirror 54 that reflects the light emitted from the liquid crystal display 52 and projects it onto the windshield 40. Prepare. The reflecting mirror 54 is rotationally driven and driven back and forth by, for example, a driving device 56 having a plurality of motors, gear mechanisms, and the like, so that the display position on the windshield 40 can be set to a desired position. In addition, a focus adjustment mechanism 58 is disposed between the liquid crystal display 52 and the reflecting mirror 54 so that the perspective of the virtual image seen by the driver's eyes can be adjusted. The display content of the liquid crystal display 52 and the drive control of the drive device 56 and the focus adjustment mechanism 58 are performed by the display device ECU 70. The liquid crystal display 52 and the reflecting mirror 54 are assumed to have a sufficient length in the vehicle width direction.

  The in-vehicle cameras 60A and 60B are disposed on, for example, a room mirror and a front body pillar (driver side), respectively, and image the driver's head. The reason why a plurality of in-vehicle cameras are provided is to identify the driver's viewpoint through stereoscopic image recognition. The captured images of the vehicle interior cameras 60 </ b> A and 60 </ b> B are transmitted to the display device ECU 70 in the same manner as the captured image of the vehicle exterior camera 10.

  The display device ECU 70 is, for example, a computer unit in which a ROM, a RAM, and the like are connected to each other via a bus with a CPU as a center, and includes an I / O port, a timer, a counter, and the like. The ROM stores programs executed by the CPU and data.

  FIG. 3 is a diagram showing main functional blocks realized by the CPU of the display device ECU 70 being loaded (executed) into a RAM and executing a program stored in the ROM, and a flow of information communication. The display device ECU 70 includes a display object recognition unit 72, a position specifying unit 74, a viewpoint position calculation unit 76, and a HUD control unit 78.

  The display object recognition unit 72 recognizes a display object outside the vehicle that requires a driver's attention. In this embodiment, display objects are signals, road signs, and emergency vehicles. The “signal” may refer to the entire traffic light, or may be limited to those requiring attention in operation, that is, a red signal, or a red signal and a yellow signal. Further, it may be highlighted only in the signal display portion. The road signs may also be limited to road signs that require driving attention (for example, speed limit signs, temporary stops, one-way streets, etc.).

  The recognition of the display object can be performed based on, for example, analysis of a captured image of the outside camera 10 or information received by the communication device 30. Specifically, a feature point extraction process or a pattern matching process can be performed on a captured image of the vehicle exterior camera 10 to recognize a signal or a road sign, or a signal can be recognized based on color and brightness. In addition, when a signal, road sign, or emergency vehicle emits radio waves by dedicated narrow area communication, it may be received to recognize the display object, or the service information transmitted from the information center described above may be used. When information on a signal, a road sign, or an emergency vehicle is included, it may be received to recognize the display object.

  The position specifying unit 74 specifies the position of the display target recognized by the display target recognition unit 72. The position of the display object is expressed as coordinates on a three-dimensional orthogonal coordinate system with a specific position of the vehicle (for example, the position where the radar device 20 is disposed) as a reference position and the reference position as an origin (three-dimensional). May be expressed as coordinates on a polar coordinate system). As a specific method for specifying the position of the display object, for example, the distance and orientation of the display object are detected by the radar device 20 and converted into coordinates on a three-dimensional orthogonal coordinate system. In addition, if a signal, road sign, or emergency vehicle emits radio waves by dedicated narrow area communication, it may be received to specify the position of the display object, or a service transmitted from the information center described above If the information includes information on signals, road signs, and emergency vehicles, the information may be received to specify the position of the display object. In this case, if the position of the display object is expressed by absolute coordinates (latitude, longitude, altitude) on the earth, the vehicle's vehicle specified using the GPS receiver or the reference station radio wave receiver described above is used. The position of the display object may be calculated based on the current position.

  As described above, there are various methods for recognizing a display object and specifying its position. In the present embodiment, it is illustrated as performing recognition and position specification by image analysis, position detection by radar, and communication. However, it is not always necessary to include all of these, and recognition and position are not necessarily performed by other methods. It may be specified.

  The viewpoint position calculation unit 76 performs stereoscopic image recognition on the captured images of the in-vehicle cameras 60A and 60B, and determines the position of the driver's viewpoint (eye position; more specifically, the middle position between both eyes). calculate. Various specific methods for stereoscopic image recognition are already known, and thus detailed description thereof is omitted. Note that the position of the driver's viewpoint is expressed, for example, as coordinates on a three-dimensional orthogonal coordinate system with the reference position described above as the origin.

  The HUD control unit 78 determines the display content of the liquid crystal display 52 and performs drive control of the drive device 56 and the focus adjustment mechanism 58 so that the display object whose recognition and position are specified in this way is highlighted. Do. In the following, description will be given in order.

  First, an equation of a virtual line connecting the position of the display object and the position of the driver's viewpoint is calculated. And the intersection of this virtual straight line and the front windshield 40 is calculated | required, and this is made into a display position. Note that a three-dimensional shape model of the front windshield 40 is stored in advance in the ROM of the display device ECU 70, and the display position is obtained using this three-dimensional shape model.

  Then, the display content of the liquid crystal display 52 is determined so that the light reaches the eyes of the driver by projecting an image on the display position, and the drive device 56 is driven and controlled. That is, the display position (light emitting position) on the liquid crystal display 52 and the position of the reflecting mirror 54 are set so that the light projected from the HUD unit 50 toward the display position is reflected by the front windshield 40 and reaches the driver's viewpoint. To adjust. Further, the focus adjustment mechanism 58 is driven and controlled so that a virtual image is visually recognized with a perspective according to the distance between the display object and the display position and the distance between the display position and the driver's viewpoint.

  By doing so, a virtual image visually recognized by the driver is superimposed on the display object. Note that the highlighting may be, for example, a frame that displays the outline of the display object in a strong impression color, or a display that simulates that the entire display object emits light. Good. Therefore, in the liquid crystal display 52, it is necessary to perform contour display, light emission display, and the like of the display object with an appropriate shape and display size. As for the shape, the outline of the display object in the captured image of the camera 10 outside the vehicle (assumed to be grasped in the process of the display object recognition unit 72) may be used. The display size is obtained by a method such as multiplying the size of the display object in the captured image of the outside camera 10 by a predetermined multiplier that tends to decrease according to the distance between the display object and the display position. Can do.

  FIG. 4 is a diagram illustrating an example of a landscape that is seen by the driver as a result of the display performed by the vehicle display device 1 according to the present embodiment. As shown in the drawing, a traffic light and a stop line in front of it (a concept included in a road sign) are highlighted. The driver who sees this is attracted attention to the traffic light, so that the situation of overlooking the traffic light can be suppressed. Further, by highlighting the stop line, it becomes easy to recognize and find the stop position, so that the driving load can be reduced. Other road signs and emergency vehicles are also highlighted in the same way as in FIG. 4, so that it is possible to suppress the situation of overlooking the road signs, and when the siren sounds outside the vehicle, You can reduce the labor to search for. Furthermore, by superimposing and displaying on the scenery outside the vehicle, the burden of attention when the driver pays attention to the display is reduced. Therefore, the driving load on the driver can be reduced while contributing to safe driving.

  Such an effect is remarkable as compared with the conventional head-up display device that expresses the display area as an independent landscape. FIG. 5 is a diagram illustrating a landscape seen by the driver when a traffic light or a stop line is highlighted in a conventional head-up display device. In such a landscape, for example, in order for the driver to notice that the traffic light is highlighted, it is necessary to watch the display area. However, the driver who drives the vehicle usually pays attention to all directions, and in the case of a driver who does not have a habit of frequently viewing the display area, even if the object to be displayed is highlighted. May be overlooked. In addition, even if the stop line is highlighted, the sense of distance in the display area is different from the sense of distance in the actual landscape, so you can intuitively recognize the sense of distance to the stop position, etc. I can't.

  In this respect, the vehicle display device 1 of the present embodiment performs highlighting while superimposing it on the scenery outside the vehicle where the driver is usually paying attention, so the possibility of overlooking the display object is low. Further, it is possible to intuitively recognize a sense of distance to the display object. Therefore, more appropriate alerting can be performed on the display object requiring attention during driving.

  Depending on the angle and curvature of the front windshield 40, the area where the display position can be set may be limited, but (1) the liquid crystal display 52 itself is movable, (2) the liquid crystal display 52 is sufficiently large. (3) The video projection device is disposed at a place other than the top surface of the instrument panel 42 to cover the area where the HUD unit 50 cannot project. (4) The liquid crystal display is provided on the top surface of the instrument panel 42. Is projected upward (in this case, it is relatively difficult to adjust perspective), and the image is projected over substantially the entire area of the front windshield 40 by a method such as It is possible to make a virtual image appear in the eyes.

  In addition, considering that there is a high possibility that signals and road signs will appear on the upper left side of the front windshield as seen from the driver's eyes, a projection area is provided on the upper left side of the front windshield. Only a display object that can be seen through the projection area may be highlighted, and a HUD unit capable of projecting an image may be provided over the entire projection area.

  According to the vehicle display device 1 of the present embodiment described above, it is possible to appropriately alert the driver regarding the environment outside the vehicle.

[Second Embodiment]
Hereinafter, the vehicle display device 2 according to the second embodiment of the present invention will be described. The vehicle display device 1 of the first embodiment and the vehicle display device 2 of the second embodiment are not in an exclusive or alternative relationship, and a device having both functions can be realized. .

  The vehicular display device 2 has the same hardware configuration as the vehicular display device 1, but differs in the processing of the display device ECU 70. Therefore, the hardware configuration will be described with reference to FIG.

  In the present embodiment, the display objects are a brake lamp and a direction indicator of the preceding vehicle. Further, the display device ECU 70 of the present embodiment further includes a predetermined traveling situation determination unit 77 (see FIG. 6) as compared with the first embodiment, and also calculates the viewpoint position for the functional blocks common to the first embodiment. Except for the part 76, it has different functions. Therefore, these differences will be mainly described.

  The display object recognizing unit 72 first recognizes the preceding vehicle itself as a previous stage for recognizing the brake lamp and the direction indicator of the preceding vehicle. Here, the preceding vehicle refers to a vehicle traveling in the same direction as the own vehicle immediately before the own vehicle. The preceding vehicle is recognized based on analysis of a captured image of the outside camera 10, recognition of an object moving in the same direction as the own vehicle by the radar device 20, and information received by the communication device 30. And a brake lamp and a direction indicator are recognized based on the captured image which imaged the preceding vehicle.

  First, the position specifying unit 74 specifies the position of the representative point (for example, the rear end part of the bumper) in the preceding vehicle using the radar device 20 or the communication device 30 as in the first embodiment. Then, the azimuth angle of the brake lamp and the direction indicator with respect to the representative point is calculated based on the captured image of the outside camera 10 and the distance to the preceding vehicle, and (the distance between the host vehicle and the representative point, the representative point Polar coordinates expressed by azimuth + azimuth of brake lamp with reference to representative point) and (distance between host vehicle and representative point, azimuth of representative point + azimuth of direction indicator with reference to representative point) The coordinates on the system are converted into coordinates on a three-dimensional orthogonal coordinate system, and the positions of the brake lamp and the direction indicator are specified.

  The predetermined traveling situation determination unit 77 determines whether or not it is a first predetermined traveling situation that requires a brake operation of the host vehicle, and whether or not it is a second predetermined traveling situation that requires a course change of the host vehicle. To do. The determination as to whether or not it is the first predetermined traveling situation can be made by various methods. For example, when (A) a brake light of a preceding vehicle is turned on by a captured image of the outside camera 10, or a red signal or the like (including a yellow signal, a red or yellow blinking signal, or the like) is recognized, (B) When the distance from the preceding vehicle is shortened rapidly (or within a predetermined distance) by the radar device 20, (C) the vehicle-mounted navigation device or the communication device 30 forwards a temporary stop position, a railroad crossing, a sharp curve, a steep downward slope , School zone, red signal, etc. (may include yellow signal, red or yellow blinking signal, etc.), etc., (D) the preceding vehicle will perform some automatic control on braking / driving force Assuming that the preceding vehicle notifies the surrounding vehicle by communication that the braking force will be output from now on, and when the notification is received by the communication device 30, etc. It is possible to determine 1 with a predetermined travel situation.

  The determination as to whether or not the vehicle is in the second predetermined traveling phase is, for example, (α) when information related to an obstacle ahead is received from the preceding vehicle, (β) a sharp curve or lane decrease forward from the in-vehicle navigation device When the information indicating the presence is acquired, it can be determined that the current state is the second predetermined traveling phase.

  The HUD control unit 78 obtains the display position based on the position of the display object and the position of the driver's viewpoint when it is determined by the predetermined travel situation determination unit 77 that the first or second predetermined travel situation. The liquid crystal display 52, the drive device 56, and the focus adjustment mechanism 58 are controlled so that the virtual image is superimposed on the display object by projecting an image on the display position.

  Further, the highlighting in the present embodiment displays red light superimposed on the brake lamp of the preceding vehicle in the first predetermined traveling phase (see FIG. 7A). By doing so, the driver has the illusion that the preceding vehicle has stepped on the brake, and can intuitively recognize that the brake operation is necessary also in the own vehicle. Accordingly, the driver can perform the brake operation at a faster response speed than a display device that simply displays a message such as “Brake is necessary” or “Cautions ahead”. This is because, in a normal driving phase, the habit of being aware of the brake operation of the host vehicle when the brake lamp of the preceding vehicle is lit is naturally acquired by a driver who has ordinary experience. Furthermore, the attention burden when the driver pays attention to the display is reduced.

  Furthermore, the specific effect which arises in each case of said (A)-(D) in the determination phase of the predetermined driving | running | working phase determination part 77 is demonstrated. In the case of (A), the brake lamp of the preceding vehicle is actually lit (or the possibility is high), but if the brake lamp of the preceding vehicle is actually lit, The lighting of the brake lamp can be emphasized to make it clearer. Further, when the brake lamp of the preceding vehicle is not actually lit, the driver can recognize the necessity of the brake operation prior to the lighting of the brake lamp of the preceding vehicle. In the case of (B), this can be recognized by the driver when the preceding vehicle decelerates without turning on the brake lamp, particularly due to engine braking or the like. In the case of (C) and (D), the driver can be made aware of the necessity of the brake operation prior to the lighting of the brake lamp of the preceding vehicle. Therefore, in any case, the driver can perform the brake operation at a faster response speed. Furthermore, by superimposing and displaying on the scenery outside the vehicle, the burden of attention when the driver pays attention to the display is reduced.

  On the other hand, the highlighting in the second predetermined traveling phase blinks yellow or orange light superimposed on the direction indicator of the preceding vehicle (see FIG. 7B). By doing so, the driver can determine that the preceding vehicle will change the course from now on and can intuitively recognize that the course change is necessary also in the own vehicle. Therefore, compared with a display device that simply displays a message such as “Need to change the course to the left (or to the right)”, the driving vehicle is more naturally prepared for deceleration, forward warning, etc. Can be performed. Furthermore, by superimposing and displaying on the scenery outside the vehicle, the burden of attention when the driver pays attention to the display is reduced.

  According to the vehicle display device 2 of the present embodiment described above, it is possible to contribute to safe driving and reduce the driving load on the driver. In addition, the driver can be appropriately alerted regarding the environment outside the vehicle.

[Third embodiment]
Hereinafter, the vehicle display device 3 according to the third embodiment of the present invention will be described. The vehicle display device 1 of the first embodiment, the vehicle display device 2 of the second embodiment, and the vehicle display device 3 of the third embodiment are not in an exclusive or alternative relationship. An apparatus having both functions can also be realized.

  The vehicle display device 3 has the same hardware configuration as that of the vehicle display device 1, but is different in the processing of the display device ECU 70. Therefore, the hardware configuration will be described with reference to FIG.

  In the present embodiment, the display object is a brake lamp of a preceding vehicle. Compared with the first embodiment, the display device ECU 70 of the present embodiment further includes a lighting state detection unit 79 (see FIG. 8), and the viewpoint position calculation unit 76 is also provided for the functional blocks common to the first embodiment. Except for the different functions. Therefore, these differences will be mainly described.

  The display object recognition unit 72 first recognizes the preceding vehicle itself as a pre-stage for recognizing the brake lamp of the preceding vehicle. Here, the preceding vehicle refers to a vehicle traveling in the same direction as the own vehicle immediately before the own vehicle. The preceding vehicle is recognized based on analysis of a captured image of the outside camera 10, recognition of an object moving in the same direction as the own vehicle by the radar device 20, and information received by the communication device 30. And a brake lamp is recognized based on the captured image which imaged the preceding vehicle.

  The function of the position specifying unit 74 is the same as in the second embodiment.

  The lighting state detection unit 79 analyzes the captured image of the outside camera 10 and detects whether or not the brake lamp of the preceding vehicle is turned on. For example, for a portion corresponding to the brake lamp of the preceding vehicle in the captured image of the vehicle exterior camera 10, a threshold value related to the brightness is set to determine whether the brake lamp is lit. The lighting state detection unit 79 may be a functional block included in the display object recognition unit 72 or the like. Moreover, you may acquire the information regarding the lighting state of a brake lamp from a preceding vehicle by the communication apparatus 30. FIG.

  When the deceleration of the preceding vehicle is equal to or greater than the predetermined deceleration and the lighting state detection unit 79 determines that the brake lamp of the preceding vehicle is not lit, the HUD control unit 78 The display position is obtained based on the position of the driver and the viewpoint of the driver, and the liquid crystal display 52, the driving device 56, and the focus are so projected as to project the image of the brake lamp lighting color (typically red) on the display position. The adjustment mechanism 58 is controlled (hereinafter referred to as pseudo display). As a result, a virtual image of the lighting color of the brake lamp is superimposed on the brake lamp of the preceding vehicle, and it appears to the driver as if the brake lamp of the preceding vehicle is lit. In this case, the scenery seen by the driver is the same as FIG. 7A shown in the second embodiment.

  The deceleration of the preceding vehicle is derived from the speed change. The speed of the preceding vehicle can be derived by subtracting the vehicle speed of the host vehicle from the relative speed detected by the radar device 20. As in the first embodiment, the radar device 20 can be replaced with a laser radar, an infrared radar, a sonar, a stereo camera device, or the like. In addition, the relative speed can be derived based on a change in the size of the preceding vehicle in the captured image of the outside camera 10, and information regarding the deceleration may be acquired from the preceding vehicle by the communication device 30.

  In the case of the present embodiment, the pseudo display is performed only when the brake lamp of the preceding vehicle is not lit, that is, when there is a high necessity for the display simulating lighting. The reason is described below.

  When the deceleration of the preceding vehicle is equal to or greater than the threshold value, it is usually considered that the driver of the preceding vehicle has stepped on the brake pedal and the brake lamp of the preceding vehicle is lit. It is assumed that the driver of the host vehicle starts a deceleration operation so as to avoid a collision with the preceding vehicle by visually confirming that the brake lamp of the preceding vehicle is turned on.

  However, deceleration of the vehicle can also occur due to engine braking, air resistance, road gradient, and the like, and the brake lamp of the preceding vehicle can be in a state of failure, out of light bulb, or the like. In these cases, although the preceding vehicle is decelerating, the brake lamp of the preceding vehicle is not lit, so the driver cannot intuitively perceive the danger.

  Therefore, in such a case, a pseudo display is performed to prompt the driver to pay attention to the front. The effect of performing the pseudo display itself is the same as that of the second embodiment.

  In addition, it is possible to reduce power consumption by performing pseudo display only when the brake lamp of the preceding vehicle is not actually lit, and it is displayed at the wrong position due to measurement error etc. The troublesomeness of the case can be suppressed.

  FIG. 9 is a flowchart showing a flow of characteristic processing executed by the display device ECU 70 of the present embodiment. This flow is repeatedly executed by the display device ECU 70.

  First, the deceleration of the preceding vehicle is derived (S300), and it is determined whether the deceleration of the preceding vehicle is equal to or greater than a predetermined deceleration (S310). If it is determined that the deceleration of the preceding vehicle is less than the predetermined deceleration, one routine of this flow is terminated without performing any processing.

  If it is determined that the deceleration of the preceding vehicle is equal to or greater than the predetermined deceleration, it is determined whether the brake lamp of the preceding vehicle is lit (S320). If the brake lamp of the preceding vehicle is lit, one routine of this flow is terminated without performing any processing.

  When it is determined that the deceleration of the preceding vehicle is equal to or greater than the predetermined deceleration (Yes in S310) and it is determined that the brake lamp of the preceding vehicle is not lit (No in S320), a pseudo display is performed (S330). ).

  According to the vehicle display device 3 of the present embodiment described above, it is possible to contribute to safe driving and reduce the driving load on the driver. In addition, the driver can be appropriately alerted regarding the environment outside the vehicle. Furthermore, since the pseudo display is performed only for the scene where the brake lamp of the preceding vehicle is not lit, the power consumption can be reduced.

[Fourth embodiment]
Hereinafter, the vehicle display device 4 according to a fourth embodiment of the present invention will be described. The vehicle display device 1 of the first embodiment, the vehicle display device 2 of the second embodiment, the vehicle display device 3 of the third embodiment, and the vehicle display device 4 of the fourth embodiment are exclusive. Alternatively, it is not an alternative relationship, and an apparatus having both functions can be realized.

  FIG. 10 is a diagram illustrating an example of the overall configuration of the vehicle display device 4. As shown in the figure, the vehicle display device 4 has a hardware configuration further including a deceleration intention detection sensor 90 as compared with the vehicle display device 1. Other constituent elements are denoted by the same reference numerals and description thereof is omitted.

  In the present embodiment, the display object is a brake lamp of a preceding vehicle. The display device ECU 70 of the present embodiment further includes a warning necessity determination unit 80 in addition to the functional blocks of the vehicle display device 3 of the third embodiment (see FIG. 11).

  The warning necessity determination unit 80 determines whether or not a warning for the driver is necessary based on the relative relationship between the preceding vehicle and the host vehicle. Here, the relative relationship is either or both of the relative speed and the inter-vehicle distance. Further, it may be an inter-vehicle time determined by both the relative speed and the inter-vehicle distance. In the following description, it is assumed that the necessity of warning is determined in consideration of both the relative speed and the inter-vehicle distance. The relative speed between the preceding vehicle and the host vehicle (hereinafter referred to as the speed of the preceding vehicle based on the host vehicle) and the inter-vehicle distance are used with reference to information detected by the radar device 20. The warning necessity determination unit 80 operates when the relative speed is equal to or less than a predetermined speed (negative value), the inter-vehicle distance is less than the predetermined distance, and the driver's intention to decelerate is not detected. It is determined that a warning for the person is necessary. That is, it is determined that a warning to the driver is necessary when the driver's intention to decelerate is not detected even though the host vehicle is approaching the preceding vehicle to some extent.

  The driver's intention to decelerate is performed with reference to the output of the deceleration intention detecting sensor 90. As the deceleration intention detection sensor 90, for example, a vehicle speed sensor, a G sensor, a brake pedal sensor, an accelerator opening sensor, or the like can be considered. The driver's intention to decelerate is detected when the vehicle speed decreases, the deceleration G occurs, the brake pedal is depressed, or the accelerator pedal is released (the action of the engine brake is estimated). An appropriate threshold value or the like is set according to the detection method employed.

  The function of the lighting state detection unit 79 is the same as that of the third embodiment.

  Then, the HUD control unit 78 determines that the warning to the driver is required by the warning necessity determination unit 80 and the lighting state detection unit 79 determines that the brake lamp of the preceding vehicle is not lit. The liquid crystal display 52 so as to obtain a display position based on the position of the brake lamp of the preceding vehicle and the position of the driver's viewpoint, and to project an image of the lighting color (typically red) of the brake lamp on the display position; The drive device 56 and the focus adjustment mechanism 58 are controlled (hereinafter referred to as pseudo display). As a result, a virtual image of the lighting color of the brake lamp is superimposed on the brake lamp of the preceding vehicle, and it appears to the driver as if the brake lamp of the preceding vehicle is lit. In this case, the scenery seen by the driver is the same as FIG. 7A shown in the second embodiment.

  In the case of this embodiment as well, as in the case of the third embodiment, the display is performed only when the brake lamp of the preceding vehicle is not lit, that is, when the necessity of pseudo display is high.

  When the host vehicle is approaching the preceding vehicle, the preceding vehicle is decelerating, and therefore the driver of the preceding vehicle is stepping on the brake pedal, so the possibility that the brake lamp of the preceding vehicle is lit is high. It is assumed that the driver of the host vehicle starts a deceleration operation so as to avoid a collision with the preceding vehicle by visually confirming that the brake lamp of the preceding vehicle is turned on.

  However, deceleration of the vehicle can also occur due to engine braking, air resistance, road gradient, and the like, and the brake lamp of the preceding vehicle can be in a state of failure, out of light bulb, or the like. In these cases, although the preceding vehicle is decelerating, the brake lamp of the preceding vehicle is not lit, so the driver cannot intuitively perceive the danger.

  Therefore, in such a case, a pseudo display is performed to prompt the driver to pay attention to the front. The effect of performing the pseudo display itself is the same as that of the second and third embodiments.

  In addition, it is possible to reduce power consumption by performing pseudo display only when the brake lamp of the preceding vehicle is not actually lit, and it is displayed at the wrong position due to measurement error etc. The troublesomeness of the case can be suppressed.

  Further, since the display is not performed when the driver's intention to decelerate is detected, it is possible to further limit the scene where the pseudo display is performed. As a result, the power consumption can be further reduced, and the troublesomeness when displayed in an incorrect position due to a measurement error or the like can be further suppressed.

  FIG. 12 is a flowchart showing a flow of characteristic processing executed by the display device ECU 70 of the present embodiment. This flow is repeatedly executed by the display device ECU 70.

  First, the relative speed and the inter-vehicle distance between the preceding vehicle and the host vehicle are acquired (S400), and based on this, it is determined whether a warning is necessary (S410). If it is determined that the warning is unnecessary, one routine of this flow is terminated without performing any processing.

  If it is determined that the warning is necessary, it is determined whether the brake lamp of the preceding vehicle is lit (S420). If the brake lamp of the preceding vehicle is lit, one routine of this flow is terminated without performing any processing.

  If it is determined that a warning is necessary (Yes in S410) and it is determined that the brake lamp of the preceding vehicle is not lit (No in S420), a pseudo display is performed (S430).

  According to the vehicle display device 4 of the present embodiment described above, it is possible to contribute to safe driving and reduce the driving load on the driver. In addition, the driver can be appropriately alerted regarding the environment outside the vehicle. Furthermore, since the pseudo display is performed only for the scene where the brake lamp of the preceding vehicle is not lit, the power consumption can be reduced.

  The best mode for carrying out the present invention has been described above with reference to the embodiments. However, the present invention is not limited to these embodiments, and various modifications can be made without departing from the scope of the present invention. And substitutions can be added.

  For example, although it has been described that the display is performed on the front windshield 40, the side windshield and the rear windshield may be provided with corresponding HUD units, and the display may be performed around the driver.

  In addition, the display is not limited to the display using the HUD unit, and for example, a light transmissive display device may be disposed on the windshield. The light transmissive display device itself may also serve as a windshield.

  Moreover, you may handle a pedestrian, another vehicle, etc. as a display target object.

  Moreover, you may provide other means, such as a near-infrared camera, as a means to recognize a display target object and to detect the position. Furthermore, it is good also as what has the microphone for detecting the sound outside a vehicle and recognizes the presence of an emergency vehicle by a siren sound.

  Further, in the third embodiment, a deceleration intention detection sensor 90 may be provided, and pseudo display may be performed only when the driver's intention to decelerate is not detected as in the fourth embodiment.

  Further, in the third embodiment, pseudo display may be performed by further taking into consideration both or either of the relative speed and the inter-vehicle distance between the preceding vehicle and the host vehicle. For example, when the deceleration of the preceding vehicle is equal to or greater than the predetermined deceleration, the relative speed is equal to or greater than the predetermined deceleration, the inter-vehicle distance is less than the predetermined distance, and the brake lamp of the preceding vehicle is not lit. Perform a pseudo display.

  In the fourth embodiment, the driver's intention to decelerate may not be a condition for performing pseudo display. In this case, the deceleration intention detection sensor 90 is not necessary.

  Further, in the fourth embodiment, it may be determined whether or not a warning is necessary without considering any one of the relative speed and the inter-vehicle distance between the preceding vehicle and the host vehicle.

  Further, the deceleration intention detection sensor 90 may be a device other than the device exemplified in the embodiment, such as a touch sensor disposed on the shift lever, a turn signal lever switch, or the like. That is, the driver's intention to decelerate is detected when a downshift operation is performed or when the turn signal lever is tilted.

  Further, the pseudo display in the third and fourth embodiments may be a display that simulates lighting of a hazard lamp instead of lighting the brake lamp.

  In the fourth embodiment, the driver's deceleration tendency may be learned, and it may be determined whether or not a warning is necessary based on the learning result. Specifically, as shown in FIG. 13, the driver's deceleration action after the pseudo display is stored in a RAM or the like (S440), and the warning necessity determination unit 80 is based on the stored deceleration action history. A predetermined speed or a predetermined distance as a determination criterion is changed. For example, if the average of the relative speed and the inter-vehicle distance at the deceleration start timing at which the driver started the principle is derived, and the predetermined speed and the predetermined distance are determined by adding or subtracting some additional value to the average value. Good. In this way, pseudo display, that is, a warning is performed at a timing more in line with the driving tendency of the driver.

  Further, when it is determined that the pseudo display is necessary by the procedure illustrated in the third and fourth embodiments, the preceding vehicle is not communicated on the front windshield with the equipment on the own vehicle side, but by communication. It may be configured as a vehicle communication control device 5 that requests the brake lamp to be turned on. As necessary components in this case, as shown in FIG. 14, an exterior camera 110 for detecting the brake lamp lighting state of the preceding vehicle, and a radar device 120 for detecting the relative speed of the preceding vehicle and the host vehicle, etc. And a communication control unit ECU 140 having a lighting state detection unit 141 and a warning necessity determination unit 142 as functional blocks (respectively, the vehicle camera 10, the radar device 20, and the communication device of the embodiment). 30, the lighting state detection unit 79 and the warning necessity determination unit 80 have the same functions). The communication control device ECU 140 further includes a communication control unit 143. For example, the communication control unit 143 determines that the warning necessity determination unit 142 requires a warning on the condition that the relative speed between the preceding vehicle and the host vehicle is equal to or lower than a predetermined speed and that the inter-vehicle distance is less than the predetermined distance. When the lighting state detection unit 141 determines that the brake lamp of the preceding vehicle is not lit, the lighting state detection unit 141 transmits a brake lamp lighting request signal to the preceding vehicle. In the preceding vehicle that has received this, the brake lamp is lit by performing interrupt control for the brake lamp lighting control that is performed in conjunction with the brake pedal operation in principle. As a result, the driver can intuitively perceive the danger and prompt the driver to be aware of the front, similar to the case where the pseudo display is performed as in the above embodiment. Further, when detecting the driver's intention to decelerate and determining the necessity of pseudo display, the vehicle may further include the same sensor as the deceleration intention detecting sensor 90 of the embodiment.

  The present invention can be used in the automobile manufacturing industry, the automobile parts manufacturing industry, and the like.

It is a figure which shows an example of the whole structure of the display apparatus 1 for vehicles. 2 is a cross-sectional view schematically showing a configuration of a HUD unit 50. FIG. It is a figure which shows the main function blocks implement | achieved when CPU of display-unit ECU70 based on 1st Example expand | deploys and executes the program memorize | stored in ROM, and the flow of information communication. It is a figure which shows an example of the scenery reflected on a driver | operator's eyes as a result of having displayed by the vehicle display apparatus 1 which concerns on 1st Example. It is a figure which shows the scenery reflected on a driver | operator's eyes at the time of highlighting a traffic light and a stop line in the conventional head-up display apparatus. It is a figure which shows the main function block implement | achieved when CPU of display-unit ECU70 based on 2nd Example expand | deploys and executes the program memorize | stored in ROM, and the flow of information communication. As a result of the display performed by the vehicle display device 2 according to the second embodiment, the vehicle display device 3 according to the third embodiment, or the vehicle display device 4 according to the fourth embodiment, the scenery reflected in the eyes of the driver It is a figure which shows an example. It is a figure which shows the main function block implement | achieved when CPU of display-unit ECU70 based on 3rd Example expand | deploys and executes the program memorize | stored in ROM, and the flow of information communication. It is an example of the flowchart which ECU70 for display apparatuses which concerns on 3rd Example performs. It is a figure which shows an example of the whole structure of the display apparatus 4 for vehicles. It is a figure which shows the main function block implement | achieved when CPU of display-unit ECU70 based on 4th Example expand | deploys and executes the program memorize | stored in ROM, and the flow of information communication. It is an example of the flowchart which ECU70 for display apparatuses which concerns on 4th Example performs. It is a figure which shows an example of the flowchart in the case of determining whether warning is required based on the result of having learned the deceleration tendency of the driver in 4th Example. It is a figure which shows an example of the whole structure of the vehicle communication control apparatus.

Explanation of symbols

1, 2, 3, 4 Vehicle display device
5 Vehicle communication control device 10, 110 Outside camera 20, 120 Radar device 30, 130 Communication device
40 Front windshield
50 HUD units
52 Liquid crystal display
54 Reflector
56 Drive unit
58 Focus adjustment mechanism 60A, 60B Car interior camera
70 ECU for display device
72 Display Object Recognition Unit
74 Position identification part
76 viewpoint position calculator
77 Predetermined travel situation determination unit
78 HUD control unit 79, 141 Lighting state detection unit 80, 142 Warning necessity determination unit
90 Deceleration intention detection sensor 140 Communication control unit ECU
143 Communication control unit

Claims (6)

A display device for a vehicle that performs a display that is visible from the vehicle interior in at least a part of the windshield,
Preceding vehicle detection means for detecting a preceding vehicle that actually travels ahead of the host vehicle;
Position specifying means for specifying the position of the brake lamp of the preceding vehicle detected by the preceding vehicle detecting means;
Display position calculation means for calculating, as a display position, a position on the windshield corresponding to the position of the brake lamp of the preceding vehicle viewed from the viewpoint of the driver;
Predetermined traveling situation determination means for determining whether or not the predetermined traveling situation requires a brake operation of the host vehicle;
When it is determined by the predetermined travel situation determination means that the vehicle is in a predetermined travel situation that requires a brake operation, the brake lamp of the preceding vehicle is emphasized at a position on the windshield calculated by the display position calculation means. It is characterized by displaying,
Vehicle display device. The vehicle display device according to claim 1 ,
The predetermined traveling situation determination means includes a deceleration specifying means for specifying a deceleration of the preceding vehicle, and a lighting state detecting means for detecting a lighting state of a brake lamp of the preceding vehicle, and the deceleration specifying means A brake operation of the host vehicle is required when a predetermined condition including that a deceleration greater than a predetermined deceleration is specified and the lighting state detection means detects that the brake lamp of the preceding vehicle is not lit is satisfied. It is a means to determine that it is a predetermined traveling situation,
Vehicle display device. The vehicle display device according to claim 1 or 2 ,
Whether the predetermined traveling situation determination means requires a warning based on a relative relationship specifying means for specifying a relative relationship between the preceding vehicle and the own vehicle, and a relative relationship between the preceding vehicle and the own vehicle specified by the relative relationship specifying means. Warning necessity determining means for determining whether or not, and lighting state detection means for detecting the lighting state of the brake lamp of the preceding vehicle, wherein the warning necessity determination means determines that a warning is necessary and the lighting state A means for determining that the vehicle is in a predetermined traveling phase in which a brake operation of the host vehicle is required, when a predetermined condition including that the brake lamp of the preceding vehicle is not lit is detected by the detection unit;
Vehicle display device. The vehicle display device according to claim 3 ,
A deceleration tendency learning means for learning a driver's deceleration tendency is provided.
The warning necessity determination means is means for determining whether or not a warning is necessary based on the driver's deceleration tendency learned by the deceleration tendency learning means.
Vehicle display device. The vehicle display device according to any one of claims 2 to 4 ,
The vehicle has a deceleration intention detection means for detecting the driver's intention to decelerate,
The predetermined condition further includes that the deceleration intention of the driver of the host vehicle is not detected by the deceleration intention detection means.
Vehicle display device. The vehicle display device according to any one of claims 1 to 5 ,
The highlighting of the brake lamp of the preceding vehicle is a display that simulates the lighting of the brake lamp of the preceding vehicle,

Images