JP4972959B2 - Image information providing apparatus, image information providing method, and vehicle with image information providing apparatus - Google Patents

Description

  The present invention belongs to the technical field of an image information providing apparatus, an image information providing method, and a vehicle with an image information providing apparatus for displaying an image or the like in a vehicle.

  When viewing a screen fixed to the vehicle in a moving vehicle, relative displacement occurs between the screen and the occupant as the vehicle swings. In general, when the movement information of the body obtained from visual information and the movement information obtained from the vestibular apparatus (semicircular canal, otolith) do not match, a sense of incongruity or discomfort with respect to swinging occurs.

  For example, when the occupant is looking at the outside scenery from the inside of the vehicle, information about his / her movement in the space can be obtained from both the visual and vestibular devices, and the two match, so there is no sense of incongruity due to the visual information. On the other hand, when the screen is closely watched, only information about the relative displacement between the screen and the occupant can be obtained from the visual sense. Therefore, between the own movement determined from the visual sense and the own movement judged from the information from the vestibular device. Disagreement occurs, causing discomfort and discomfort.

In the conventional image information providing device, the rotational motion of the vehicle is measured by an angular velocity meter attached to the vehicle, and based on the rotational angle of the vehicle obtained by integrating this, the image on the display fixed to the vehicle is displayed on the vehicle. By correcting so as to cancel the displacement due to the rotation of the image, the image is displayed as if it is fixed at a predetermined position, and an uncomfortable feeling of the image is prevented (see, for example, Patent Document 1).
JP 2004-322728 A

  However, in the above prior art, image movement occurs even when the slope of the road surface does not cause discomfort or incongruity, so that the movement is troublesome, and the unnecessary movement causes the image to protrude from the screen. There is a problem in that the visibility of information is impaired because the probability of disappearing increases.

  The present invention has been made in view of the above problems, and the object of the present invention is to reduce the annoyance caused by unnecessary image movement while suppressing the uncomfortable feeling at the time of image watching accompanying the swing of the vehicle, and from the screen of image information. The object is to provide an image information providing device, an image information providing method, and a vehicle with an image information providing device that can reduce the protrusion of the image.

In order to achieve the above object, the present invention provides:
Acceleration detecting means for detecting the acceleration of the vehicle body;
Display means for displaying images to the occupant;
Vehicle motion estimation means for estimating vehicle motion caused by inertial force acting on the vehicle using the acceleration of the vehicle body and the vehicle behavior model;
Occupant motion estimation means for estimating the occupant's head motion caused by the inertial force acting on the occupant using the acceleration of the vehicle body and the occupant behavior model;
The displacement in the translation direction of the display image by the display unit accompanying the vehicle motion estimated by the vehicle motion estimation unit, and the translation direction of the display image by the display unit accompanying the occupant head motion estimated by the occupant motion estimation unit a display image displacement calculating means for calculating the displacement,
Wherein the translation direction of the displacement of the display image by the display unit, the display image in the direction of canceling the displacement of the translation direction of said display means associated with the passenger's head motion associated with the vehicle motion calculated by the display image displacement calculating means Display control means for correcting the display position of
It is characterized by providing.

  In the image information providing apparatus of the present invention, since the above-described configuration is used, the image does not move with respect to a change in the slope of the road surface that does not cause discomfort or discomfort, and the user does not feel bothered. Further, since the image does not move unnecessarily, the image does not protrude from the screen, and the information can be properly grasped.

  Hereinafter, the best mode for carrying out the present invention will be described based on Examples 1 to 3.

First, the configuration will be described.
FIG. 1 is a block diagram illustrating the configuration of the image information providing apparatus according to the first embodiment.
The image information providing apparatus 100 according to the first embodiment includes a vehicle motion detection unit (acceleration detection unit) 101, a vehicle motion estimation unit (vehicle motion estimation unit) 102, an occupant motion estimation unit (occupant motion estimation unit) 103, and a control. A display unit (display image displacement calculation unit) 104, an image input unit 105, an image displacement unit (display control unit) 106, and a display device (display unit) 107.

The vehicle motion detection unit 101 detects the translational acceleration of the vehicle (linear acceleration without rotation, also referred to as linear acceleration, hereinafter abbreviated as acceleration), and uses the vehicle motion estimation unit 102 and occupant motion as acceleration information. It outputs to the estimation part 103, respectively.
The vehicle motion estimation unit 102 estimates the vehicle motion caused by the inertial force acting on the vehicle based on the acceleration information detected by the vehicle motion detection unit 101 and the vehicle behavior model, and outputs the vehicle motion information to the control unit 104. To do.
The occupant motion estimation unit 103 estimates the occupant's head motion caused by the inertial force acting on the occupant as the occupant motion based on the acceleration information detected by the vehicle motion detection unit 101 and the occupant behavior model. Is output to the control unit 104.

  Based on the vehicle motion information estimated by the vehicle motion estimator 102 and the occupant motion information estimated by the occupant motion estimator 103, the control unit 104 cancels the displacement in the translation direction accompanying the vehicle motion and the occupant motion. The control amount of the image is determined, and the control information is output to the image displacement unit 106.

The image input unit 105 inputs original image information to be displayed on the screen of the display device 107.
The image displacement unit 106 displaces the display position of the image information based on the control information output from the control unit 104, and outputs the image information after the displacement to the display device 107.
The display device 107 displays the corrected image information output from the image displacement unit 106 on the display.

[Image display control processing]
FIG. 2 is a flowchart illustrating a flow of image display control processing executed by the image information providing apparatus 100 according to the first embodiment. Each step will be described below.

  In step S10, it is determined whether the power of the screen of the display device 107 is ON. If yes, then continue with step S20, otherwise repeat step S10.

  In step S20, the longitudinal acceleration and the lateral acceleration of the vehicle are measured, respectively, and the process proceeds to step S30.

In step S30, vehicle motion is estimated using the vehicle body longitudinal and lateral acceleration measured in step S20 and the vehicle behavior model as shown in FIG. 3, and the process proceeds to step S40. The vehicle behavior model, type of the vehicle body acceleration a _v, vehicle motion caused by the inertial force F =-Ma _v acting on the vehicle (pitch angle, roll angle, yaw angle) is a vehicle model that outputs. Here, the vehicle body (sprung mass) M is a parameter that changes according to the number of passengers and the loading capacity, and the suspension characteristics indicated by the spring coefficient K and the damper coefficient C are predetermined parameters determined by the specifications of the vehicle. .

In step S40, the occupant head movement is estimated using the vehicle body acceleration measured in step S20 and the occupant behavior model as shown in FIG. 4, and the process proceeds to step S50. Occupant behavior model, type of the vehicle body acceleration as the acceleration a _h of the passenger's head, the pitch angle of the passenger's head motion (the passenger's head caused by the inertial force f = ma _h acting on the passenger's head, roll angle, This is a vehicle model that outputs the yaw angle and the amount of back and forth movement of the head center of gravity . Here, the occupant characteristics indicated by the mass m, the spring coefficient k, and the damper coefficient c are parameters that vary depending on the occupant's physique such as the number of occupants, the body weight, the height, and the sitting height, and the sitting posture. m, the spring coefficient k, and the damper coefficient c are constant values.

  In step S50, the moving amount of the display is calculated using the vehicle motion estimated in step S30, and the process proceeds to step S60.

  In step S60, the relative displacement between the display and the occupant eyeball is calculated based on the vehicle motion estimated in step S30 and the occupant head motion estimated in step S40, and the process proceeds to step S70.

  In step S70, the required image displacement is calculated based on the relative displacement between the display and the occupant eye calculated in step S60, and the process proceeds to step S80.

  In step S80, the image is shifted or rotated in the translation direction, and the process proceeds to step S90.

  In step S90, the corrected image is displayed on the display, and the process proceeds to step S100.

  In step S100, it is determined whether or not the screen is powered off. If YES, this control is terminated, and if NO, the process proceeds to step S20.

[Vehicle motion and occupant motion estimation method]
A vehicle motion estimation method using the translational acceleration of the vehicle body will be described using the vehicle behavior model of FIG.
If the vehicle is decelerated at the acceleration a _v, when viewed from the coordinates of the vehicle, the inertial force F =-Ma _v of the vehicle body mass M will act. Therefore, when the vehicle is modeled as a vibration system having one degree of freedom of rotation as shown in FIG. 3 and the inertial force F acts on the vehicle body, the acceleration measured by the accelerometer (vehicle motion detection unit 101) attached to the vehicle body is calculated. By using this, the pitch angle of the vehicle body can be calculated.

Similarly to the vehicle, the pitch angle of the head and the back-and-forth movement amount of the center of gravity of the head are calculated by considering a model (FIG. 4) in which an inertial force f = −ma _h acts on an occupant head of mass m. be able to. Even when lateral acceleration occurs due to turning of the vehicle, the roll angle of the vehicle body and the motion of the passenger's head can be calculated in the same manner.

Next, an image position correcting operation by the image information providing apparatus 100 according to the first embodiment will be described.
In the image information providing apparatus 100 according to the first embodiment, the acceleration of the vehicle body is measured (step S20), the vehicle motion generated by the inertial force acting on the vehicle is estimated using the acceleration and the vehicle behavior model, and the acceleration and the occupant are estimated. Using the behavior model, the occupant head movement caused by the inertial force acting on the occupant head is estimated (steps S30 and S40).

  Subsequently, a relative displacement amount between the display and the occupant eyeball associated with the estimated vehicle motion and occupant head motion is calculated (step S60), and an image displacement amount that cancels the calculated relative displacement amount is calculated (step S70). Then, the original image is shifted or rotated in the translation direction (step S80), and the corrected image is displayed on the display (step S90).

  That is, in the image information providing apparatus 100 according to the first embodiment, the vehicle motion (yaw motion, roll motion) that generates acceleration in the vehicle body during acceleration / deceleration or turning by estimating only the vehicle motion caused by the inertial force acting on the vehicle. Further, it is possible to reduce the correction sensitivity of the vehicle motion caused by the change in the slope of the road surface that generates only a slight acceleration as compared with the time of acceleration / deceleration or turning, while performing the image correction accompanying the (pitch motion) with high accuracy.

  Therefore, during acceleration / deceleration and cornering, which tend to cause discomfort and discomfort when gazing at the image, the display position of the image is corrected to prevent discomfort and discomfort, while changing the slope of the road surface that does not cause discomfort or discomfort. On the other hand, since the correction of the image display position is low, unnecessary movement of the image is suppressed, and it is possible to reduce the troublesomeness caused by the movement of the image and the difficulty of viewing information due to the image protruding from the screen.

  For example, as shown in FIG. 5, when the vehicle body is inclined at an angle θ due to the inclination of the road surface, such as when traveling on a hill, the gravitational acceleration g is applied to the accelerometer (vehicle motion detection unit 101) in the left-right direction before and after being attached to the vehicle body. The direction component gsinθ acts, but these direction components accompanying normal road surface inclination changes have a smaller value than the acceleration generated in the vehicle body during acceleration / deceleration or turning.

Here, if the image correction amount in the case of the road surface inclination angle θ is d = f (θ), the conventional image information providing apparatus calculates the image correction amount from the integrated value of the angular velocity meter. The correction amount d ₁ is
d ₁ = f (θ ")
θ ": an angle obtained by adding the road surface inclination angle θ and the vehicle body inclination angle θ 'to the road surface, and as shown in FIG. 6 (a), the image display position with respect to the road surface inclination change that does not cause discomfort or discomfort. Will be greatly corrected.

On the other hand, in the image correction amount d ₂ of the image information providing apparatus 100 according to the first embodiment, as shown in FIG.
d ₂ = f (θ ')
Therefore, a large image movement does not occur with respect to a change in the slope of the road surface, and it is possible to reduce the troublesomeness caused by the movement of the image and the difficulty of viewing information due to the image protruding from the screen.

  Also, when measuring vehicle motion with an angular velocity meter, for example, the vehicle rolls during turning, so if the yaw component is mixed into the pitch direction sensor, or when turning while nose dive, the yaw component is added to the roll sensor. Or mix. For example, when the vehicle is turning, the mixed yaw component increases with respect to the acceleration in the pitch direction or the acceleration in the roll direction. It was necessary to correct these.

  On the other hand, in the method using the translational direction acceleration shown in the first embodiment, even if a pitch motion or a yaw motion is generated during traveling, the mixed pitch motion or yaw is mixed with the magnitude of the translational direction acceleration. The translational direction component of motion is small. Therefore, since the influence of crosstalk can be suppressed, accurate sensing can be performed without performing the above-described correction.

Next, the effect will be described.
The image display providing apparatus according to the first embodiment has the following effects.

  The vehicle motion detection unit 101 that detects the acceleration of the vehicle body, the display device 107 that displays an image to the occupant, the acceleration of the vehicle body, and the vehicle behavior model are used to estimate the vehicle motion caused by the inertial force acting on the vehicle. The vehicle motion estimation unit 102, the control unit 104 that calculates the displacement in the translation direction of the display image by the display device 107 that accompanies the vehicle motion, and the display image display position is corrected in a direction that cancels the translational displacement due to the vehicle motion. An image displacement unit 106. For this reason, it is possible to reduce the annoyance caused by unnecessary image movement and the protrusion of image information from the screen while suppressing the uncomfortable feeling at the time of gazing at the image accompanying the swing of the vehicle.

  An occupant motion estimation unit 103 that estimates the occupant's head motion caused by inertial force acting on the occupant using the vehicle body acceleration and the occupant behavior model is provided, and the control unit 104 is a display device that accompanies the occupant head motion. The displacement in the translation direction of the display image by 107 is calculated, and the image displacement unit 106 corrects the display position of the display image in a direction in which the displacement in the translation direction accompanying the occupant head movement is canceled. For this reason, it is possible to further reduce discomfort and discomfort during gaze.

  The vehicle motion detection unit 101 that detects the acceleration of the vehicle body, the display device 107 that displays an image to the occupant, the acceleration of the vehicle body, and the vehicle behavior model are used to estimate the vehicle motion caused by the inertial force acting on the vehicle. The vehicle motion estimation unit 102, the control unit 104 that calculates the displacement in the translation direction of the display image by the display device 107 that accompanies the vehicle motion, and the display image display position is corrected in a direction that cancels the translational displacement due to the vehicle motion. The image displacement providing unit 106 is a vehicle with an image information providing device. For this reason, it is possible to reduce the annoyance caused by unnecessary image movement and the protrusion of image information from the screen while suppressing the uncomfortable feeling at the time of gazing at the image accompanying the swing of the vehicle.

  The vehicle motion caused by the inertial force acting on the vehicle is estimated using the vehicle body acceleration and the vehicle behavior model, the displacement in the translation direction of the display image by the display device 107 accompanying the vehicle motion is calculated, and accompanying the vehicle motion The display position of the display image is corrected so as to cancel the translational displacement. For this reason, it is possible to reduce the annoyance caused by unnecessary image movement and the protrusion of image information from the screen while suppressing the uncomfortable feeling at the time of gazing at the image accompanying the swing of the vehicle.

  A procedure (step S30) for estimating the vehicle motion caused by the inertial force acting on the vehicle using the vehicle body acceleration and the vehicle behavior model, and calculating the displacement in the translation direction of the display image by the display device 107 accompanying the vehicle motion And a procedure (Step S80, Step S90) for correcting the display position of the display image in a direction to cancel the translational displacement accompanying the vehicle motion. For this reason, it is possible to reduce the annoyance caused by unnecessary image movement and the protrusion of image information from the screen while suppressing the uncomfortable feeling at the time of gazing at the image accompanying the swing of the vehicle.

  The second embodiment is an example in which the characteristics of the vehicle behavior model and the occupant behavior model are changed according to the vehicle behavior caused by the driving operation of the driver and the vehicle behavior caused by road surface irregularity.

First, the configuration will be described.
FIG. 7 is a block diagram illustrating the configuration of the image information providing apparatus according to the second embodiment. In addition, the same code | symbol is attached | subjected to the component same as Example 1 shown in FIG.
The image information providing apparatus 200 according to the second embodiment includes a vehicle motion and vehicle operation detection unit (acceleration detection unit) 201, a vehicle model database 202, a vehicle motion estimation unit (vehicle motion estimation unit) 203, and a seating surface pressure detection. Unit 204, occupant posture estimation unit 205, human body model database 206, occupant motion estimation unit (occupant motion estimation unit) 207, control unit (display image displacement calculation unit) 104, image input unit 105, image A displacement part (display control means) 106 and a display device (display means) 107 are provided.

  The vehicle motion and vehicle operation detection unit 201 detects the translation acceleration of the vehicle and the accelerator operation, brake operation, and steering wheel operation by the occupant, and transmits the acceleration information and the vehicle operation information to the vehicle motion estimation unit 203 and the occupant motion estimation unit 207. Output each.

  The vehicle model database 202 includes two vehicle behavior models having different characteristics, which are used to estimate vehicle motion. The vehicle behavior model during operation in which inertial force acts on the vehicle, and acceleration is generated in the vehicle by vibration input from the road surface. A non-operating vehicle behavior model is stored.

  The vehicle motion estimation unit 203 includes acceleration information and vehicle operation information detected by the vehicle motion and vehicle operation detection unit 201, and occupant posture information estimated by the occupant posture estimation unit 205 (number of occupants, occupant physique, driving posture). The vehicle motion is estimated based on one of the operating-time occupant behavior model and the non-operating occupant behavior model stored in the vehicle model database 202, and the vehicle motion information is output to the control unit 104.

The seat pressure detector 204 detects the pressure distribution on the seat and outputs pressure distribution information to the occupant posture estimator 205.
The occupant posture estimation unit 205 estimates the number of occupants, the occupant's physique, and the driving posture based on the pressure distribution information of the seat seat surface detected by the seat surface pressure detection unit 204, and the occupant posture estimation unit 207 as the occupant posture information. Output to.

  The human body model database 206 includes two occupant behavior models having different characteristics, which are used for estimating occupant movements, an occupant behavior model during operation in which an inertial force acts on the occupant, and vibration input from the vehicle body (vehicle floor). A non-operating passenger behavior model in which acceleration is generated is stored.

  The occupant motion estimation unit 207 includes acceleration information and operation information detected by the vehicle motion and vehicle operation detection unit 201, and occupant posture information estimated by the occupant posture estimation unit 205 (the number of occupants, the physique of the occupants, and the driving posture). The head motion of the occupant is estimated as the occupant motion based on one of the operating occupant behavior model and the non-operating occupant behavior model stored in the human body model database 206, and the occupant motion information is To 104.

[Image display control processing]
FIG. 8 is a flowchart showing the flow of image display control processing executed by the image information providing apparatus 200 according to the second embodiment. Each step will be described below. In FIG. 8, steps for performing the same processing as in the first embodiment shown in FIG. 2 are assigned the same step numbers, and steps for performing different processing will be described.

  In step S210, the seat pressure distribution is measured, the number of passengers, the physique of the passenger, the sitting posture, etc. are estimated from the seat pressure distribution, and the process proceeds to step S20.

  In step S220 (vehicle behavior determination means), it is determined whether or not the driver has operated the accelerator pedal or the brake pedal. If YES, the process proceeds to step S230, and if NO, the process proceeds to step S240.

  In step S230, an operation before and after calculation model for estimating the vehicle motion and occupant motion before and after the accelerator operation and the brake operation from the vehicle model database 202 (the vehicle behavior model during operation shown in FIG. 3 and FIG. 4). The operation occupant behavior model is selected), and the process proceeds to step S250.

  In step S240, a non-operating pre- and post-calculation model for estimating vehicle motion based on road surface input and occupant motion based on vehicle body input from the vehicle model database 202 (non-operating vehicle behavior model in FIG. 9 and non-operating time in FIG. 10). Select an occupant behavior model) and proceed to Step S250. Here, the occupant characteristics m, k, and c are parameters that vary in accordance with the occupant's physique and sitting posture estimated in step S210.

The non-operating vehicle behavior model in FIG. 9 is a vehicle model that inputs a change in road surface inclination and outputs vehicle motion (pitch angle, roll angle, yaw angle) generated by the acceleration _av of the vehicle body. Here, the vehicle body (sprung mass) mass M is a parameter that varies according to the number of passengers and the load capacity estimated in step S210, and the suspension characteristics indicated by the spring coefficient K and the damper coefficient C depend on the specifications of the vehicle. This is a predetermined parameter.

The non-operating occupant behavior model in FIG. 10 is a vehicle model that inputs a change in the inclination of the vehicle body and outputs an occupant head movement caused by the acceleration _ah of the occupant head. Here, the occupant characteristics indicated by the mass m, the spring coefficient k, and the damper coefficient c are parameters that vary according to the occupant's physique and sitting posture estimated in step S210.

  In step S250 (vehicle behavior determination means), it is determined whether or not there is a driver's steering operation. If YES, the process moves to step S260, and if NO, the process moves to step S270.

  In step S260, the left and right, roll, yaw vehicle motion and occupant motion associated with the steering wheel operation are selected (see the vehicle behavior model for operation in FIG. 3 and the occupant behavior model for operation in FIG. 4). Move to S280.

  In step S270, a non-operating left / right calculation model (see non-operating vehicle behavior model in FIG. 9 and non-operating occupant behavior model in FIG. 10) for estimating vehicle motion and occupant motion by road surface input is selected. Move to S280.

  In step S280, vehicle motion is estimated based on the vehicle body acceleration measured in step S20 and the vehicle behavior model selected in step S230 (or step S240) and step S260 (or step S270). Migrate to At this time, in the second embodiment, the vehicle body mass M, which is a parameter of the vehicle behavior model, is set according to the number of passengers estimated in step S210 and the loading capacity.

  In step S290, occupant motion is estimated based on the acceleration of the vehicle body measured in step S20 and the occupant behavior model selected in step S230 (or step S240) and step S260 (or step S270), and step S50. Migrate to At this time, in the second embodiment, the mass m, the spring coefficient k, and the damper coefficient c, which are parameters of the occupant behavior model, are set according to the number of occupants estimated in step S210, the physique of the occupants, and the sitting posture.

Next, an image position correcting operation by the image information providing apparatus 200 according to the second embodiment will be described.
In the second embodiment, the vehicle behavior due to the driver's driving operation and the vehicle behavior due to road surface irregularity are determined based on the presence / absence of the driver's pedal operation and steering wheel operation (steps S220 and S250).

  The vehicle motion estimator 203 uses an in-operation vehicle behavior model (FIG. 3) in which an inertial force acts on the vehicle with respect to the vehicle behavior due to the driving operation of the driver (step S230, step S260), and converts the vehicle behavior due to road surface irregularities. On the other hand, vehicle motion is estimated using a non-operation vehicle behavior model (FIG. 9) in which acceleration is generated in the vehicle by vibration input from the road surface (steps S240 and S270).

  The occupant motion estimation unit 207 uses an operation occupant behavior model (step S230, step S260) in which inertial force acts on the occupant with respect to the vehicle behavior caused by the driver's driving operation (step S230, step S260). The occupant head motion is estimated using a non-operating occupant behavior model (FIG. 10) in which acceleration is generated in the occupant by vibration input from the vehicle body (step S240, step S270).

That is, when a vehicle motion such as acceleration / deceleration or turning occurs in the vehicle due to the driving operation of the driver, an inertial force acts on the vehicle. Therefore, a model in which the inertial force acts as in the first embodiment (FIG. 11 (a) )), But when the vehicle motion occurs due to road surface irregularities rather than the driver's driving operation, a model (Fig. 11 (b)) with the road surface slope change as the input and the vehicle body acceleration as the output is used. Used to estimate the vehicle motion that causes the measured acceleration.
In this way, by using an appropriate model according to the input, it is possible to more accurately estimate the vehicle motion and the occupant head motion, and more effectively correct the uncomfortable feeling and discomfort when gazing at the image. Can do.

Next, the effect will be described.
The image display providing apparatus according to the second embodiment has the following effects in addition to the effects of the first embodiment.

  -Vehicle behavior determining means (step S220, step S250) for determining the vehicle behavior due to the driving operation of the driver and the vehicle behavior due to road surface irregularity is provided, and the vehicle motion estimation unit 203 A vehicle behavior model during operation in which inertial force acts on the vehicle is used, and a vehicle behavior model during non-operation in which acceleration is generated in the vehicle by vibration input from the road surface is used for vehicle behavior due to road surface irregularities. For this reason, it is possible to effectively correct the influence of a plurality of oscillations having different mechanisms.

  -Vehicle behavior discriminating means (step S220, step S250) for discriminating the vehicle behavior due to the driving operation of the driver and the vehicle behavior due to road surface irregularities is provided, and the occupant behavior estimating unit 207 A non-operating occupant behavior model in which acceleration is generated in the occupant by vibration input from the vehicle body is used for a vehicle behavior due to road surface irregularity, using an occupant behavior model during operation in which inertial force acts on the occupant. For this reason, it is possible to effectively correct the influence of a plurality of oscillations having different mechanisms.

  The vehicle behavior determining means (step S220, step S250) determines the vehicle behavior due to the driver's driving operation and the vehicle behavior due to road surface irregularities based on the accelerator operation amount, the brake operation amount, and the steering operation amount. For this reason, it is possible to appropriately switch the calculation model depending on the presence or absence of the driving operation.

  The third embodiment is an example in which the vehicle behavior model and the occupant behavior model are integrated into one calculation model.

  In the third embodiment, the vehicle behavior model and the occupant behavior model are set as one calculation model, and only the output gain of the calculation model is changed to estimate the vehicle motion and the occupant head motion, respectively. That is, when the vehicle behavior model shown in FIG. 3 (or FIG. 9) and the passenger behavior model shown in FIG. 4 (or FIG. 10) have similar characteristics (resonance frequency, resonance magnification), the output gain By adjusting only the vehicle motion and the occupant head motion can be estimated using one calculation model, it is possible to reduce the required performance for hardware resources by simplifying the control.

Next, the effect will be described.
In the image display providing apparatus according to the third embodiment, since the vehicle behavior model and the occupant behavior model are integrated into one calculation model, in addition to the effects of the first embodiment, the required performance for hardware resources due to simplification of control can be achieved. The cost can be reduced, and the processing speed can be improved.

(Other examples)
As mentioned above, although the best form for implementing this invention was demonstrated based on Examples 1-3, the specific structure of this invention is not limited to Examples 1-3, for example, In the first to third embodiments, the vehicle behavior model and the occupant behavior model have been described as simple one-degree-of-freedom models, but it is also possible to estimate motion using a detailed model with multiple degrees of freedom.

  As a non-operating occupant behavior model used when the driver is not performing a driving operation, a model that estimates the occupant head movement using the vehicle vertical movement as shown in FIG. It is good also as a structure which estimates the relative displacement of an up-down direction, and correct | amends this.

It is a block diagram which shows the structure of the image information provision apparatus of Example 1. FIG. 6 is a flowchart illustrating a flow of image display control processing executed by the image information providing apparatus 100 according to the first embodiment. It is the vehicle behavior model of Example 1, and the vehicle behavior model at the time of operation of an Example. FIG. 6 is an occupant behavior model of Example 1 and an occupant behavior model for operation of Example 2. FIG. It is a figure which shows the acceleration which acts on a vehicle at the time of slope running. It is an image display state which shows the image position correction | amendment effect | action by the image information provision apparatus 100 of Example 1. FIG. It is a block diagram which shows the structure of the image information provision apparatus of Example 2. FIG. 10 is a flowchart illustrating a flow of image display control processing executed by the image information providing apparatus 200 according to the second embodiment. 6 is a non-operation vehicle behavior model of the second embodiment. 7 is a non-operating occupant behavior model of Example 2. FIG. It is explanatory drawing which shows the vehicle behavior model characteristic switching effect | action according to the presence or absence of the driving operation of Example 2. FIG. It is a non-operation passenger behavior model of other examples.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Image information provision apparatus 101 Vehicle motion detection part (acceleration detection means)
102 Vehicle motion estimation unit (vehicle motion estimation means)
103 Crew movement estimation unit (Crew movement estimation means)
104 Control unit (display image displacement calculation means)
105 Image input unit 106 Image displacement unit (display control means)
107 Display device (display means)
200 Image Information Providing Device 201 Vehicle Operation Detection Unit (Acceleration Detection Unit)
202 vehicle model database 203 vehicle motion estimation unit (vehicle motion estimation means)
204 Seat pressure detector 205 Crew posture estimation unit 206 Human body model database 207 Crew motion estimation unit (crew motion estimation means)

Claims (8)

Acceleration detecting means for detecting the acceleration of the vehicle body;
Display means for displaying images to the occupant;
Vehicle motion estimation means for estimating vehicle motion caused by inertial force acting on the vehicle using the acceleration of the vehicle body and the vehicle behavior model;
Occupant motion estimation means for estimating the occupant's head motion caused by the inertial force acting on the occupant using the acceleration of the vehicle body and the occupant behavior model;
The displacement in the translation direction of the display image by the display unit accompanying the vehicle motion estimated by the vehicle motion estimation unit, and the translation direction of the display image by the display unit accompanying the occupant head motion estimated by the occupant motion estimation unit a display image displacement calculating means for calculating the displacement,
Wherein the translation direction of the displacement of the display image by the display unit, the display image in the direction of canceling the displacement of the translation direction of said display means associated with the passenger's head motion associated with the vehicle motion calculated by the display image displacement calculating means Display control means for correcting the display position of
An image information providing apparatus comprising: The image information providing apparatus according to claim 1,
An image information providing apparatus, wherein the vehicle behavior model and the occupant behavior model are integrated into one calculation model. The image information providing apparatus according to claim 2,
Vehicle behavior determination means for determining vehicle behavior due to driver's driving operation and vehicle behavior due to road surface irregularity,
The vehicle motion estimation means uses an in-operation vehicle behavior model in which an inertial force acts on the vehicle with respect to the vehicle behavior due to the driving operation of the driver, and the vehicle behavior due to road surface irregularity is applied to the vehicle by vibration input from the road surface. An image information providing apparatus using a non-operating vehicle behavior model in which acceleration occurs. In the image information providing apparatus according to any one of claims 1 to claim 3,
Vehicle behavior determination means for determining vehicle behavior due to driver's driving operation and vehicle behavior due to road surface irregularity,
The occupant behavior estimation means uses an operating occupant behavior model in which an inertial force acts on the occupant with respect to the vehicle behavior caused by the driver's driving operation. A non-operating occupant behavior model that generates acceleration is used. In the image information providing device according to claim 3 or 4 ,
The vehicle behavior determining means determines a vehicle behavior caused by a driver's driving operation and a vehicle behavior caused by road surface irregularity based on at least one of an accelerator operation amount, a brake operation amount, a steering operation amount, and a vehicle vibration. An image information providing device. In the image information providing apparatus according to any one of claims 1 to claim 5,
An image in which at least one of the vehicle behavior model and the occupant behavior model changes model characteristics according to at least one of the number of occupants, the load on the vehicle, the weight, the height, the sitting height, and the sitting posture. Information providing device. Acceleration detecting means for detecting the acceleration of the vehicle body;
Display means for displaying images to the occupant;
Vehicle motion estimation means for estimating vehicle motion caused by inertial force acting on the vehicle using the acceleration of the vehicle body and the vehicle behavior model;
Occupant motion estimation means for estimating the occupant's head motion caused by the inertial force acting on the occupant using the acceleration of the vehicle body and the occupant behavior model;
The displacement in the translation direction of the display image by the display unit accompanying the vehicle motion estimated by the vehicle motion estimation unit, and the translation direction of the display image by the display unit accompanying the occupant head motion estimated by the occupant motion estimation unit Display image displacement calculating means for calculating the displacement of
The display image in a direction to cancel the displacement in the translation direction of the display image by the display means accompanying the vehicle movement calculated by the display image displacement calculation means and the displacement in the translation direction by the display means accompanying the occupant head movement. Display control means for correcting the display position of
A vehicle with an image information providing device. A procedure for estimating vehicle motion caused by inertial force acting on the vehicle using the acceleration of the vehicle body and the vehicle behavior model;
Using the acceleration of the vehicle body and the occupant behavior model, a procedure for estimating the occupant's head movement caused by the inertial force acting on the occupant;
A procedure for calculating a displacement in a translation direction of a display image by a display means for displaying an image to an occupant accompanying a vehicle motion caused by an inertial force acting on the vehicle;
A procedure for calculating a displacement in a translation direction of a display image by the display means in accordance with an occupant head movement caused by an inertial force acting on the occupant;
A procedure for correcting the display position of the display image in a direction to cancel the displacement in the translation direction of the display image by the display means accompanying the vehicle movement and the displacement in the translation direction by the display means accompanying the occupant head movement;
A method for providing image information, comprising:

Images