JP5327025B2 - Vehicle travel guidance device, vehicle travel guidance method, and computer program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle travel guide apparatus capable of displaying guide information, properly overlapped with a guide target point and visually recognized by a driver, a vehicle travel guide method, and a computer program. <P>SOLUTION: When the guide information on a navigation apparatus 1 is displayed by a HUD 50, vehicle information on a vehicle and an environment around the vehicle are obtained. A zone in which it is predicted that a brake force of the predetermined value or larger is continuously generated in the vehicle is set to a correction target zone as a zone in which it is predicted that a vehicle posture is continuously displaced relative to a reference posture based on the obtained vehicle information and the environment around the vehicle. While the vehicle travels in the set correction target zone, a display position for displaying the guide information is corrected by considering the displacement of the vehicle posture based on the brake force generated in the vehicle. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a vehicular travel guidance device, a vehicular travel guidance method, and a computer program that display guidance information.

  Conventionally, a head-up display (hereinafter referred to as HUD) has been known as a display system used to transmit various information to a driver who drives a vehicle. The HUD displays information on a vehicle window such as a windshield within the field of view of the driver's normal driving position. As information to be displayed, it is possible to display, for example, route guidance information by a navigation device, position information of an obstacle ahead of the vehicle, and the like in addition to information about the host vehicle such as a vehicle speed and an indicator. By adopting this HUD, the movement of the viewpoint while the driver is driving is reduced, so the driver's fatigue is reduced and the safety is also improved.

  Conventionally, in the HUD, information is superimposed and displayed on the scenery outside the vehicle seen from the vehicle window. According to this, when displaying route guidance information by a navigation device, for example, an intersection for guiding a right turn is displayed superimposed on an intersection that guides a right turn, thereby making it possible to more clearly identify the intersection that guides the right turn. Is possible. In addition, when displaying the position information of an obstacle in front of the vehicle, the position of the obstacle is surely grasped by displaying a frame surrounding the obstacle on the obstacle. It becomes possible.

  In the case where information is superimposed and displayed on the scenery outside the vehicle seen from the window as described above, a point (an intersection or a pedestrian, etc., hereinafter referred to as a guidance target point) on which the information is superimposed and the vehicle window It is very important that it is visible to the driver's eyes so that the positional relationship of the information (arrows, characters, frames, etc.) displayed above matches. If there is a deviation in the positional relationship between the two, there is a possibility that the driver may erroneously recognize the intersection where the driver makes a right or left turn or the position of an obstacle. However, when the driver's posture changes, the driver's viewpoint position also changes, so every time the driver's posture changes, a deviation occurs in the positional relationship between the guidance target point visible from the vehicle window and the information displayed on the vehicle window. It was.

  Therefore, in order to prevent such positional deviation based on the driver's posture change and vehicle braking as described above, conventionally, the driver's viewpoint position is detected by an in-vehicle camera or the like, and the detected viewpoint position changes. Accordingly, the display position of information by the HUD has been controlled (see, for example, JP-A-6-247184).

JP-A-6-247184 (page 5-7, FIG. 8, FIG. 9)

  Here, when braking force is generated on the vehicle due to braking operation or downshifting, or when driving on a steep slope or curve, the vehicle posture is displaced and displayed on the vehicle window and the guidance target point that can also be seen from the vehicle window There was also a problem that the positional relationship of information was shifted. However, in the above conventional technique, the display position is not controlled based on such displacement of the vehicle posture.

  Therefore, the vehicle posture (yaw rotation amount, roll rotation amount, pitch rotation amount, forward / backward movement amount, left / right movement amount, and vertical movement amount) is detected by a sensor installed in the vehicle, and HUD is detected according to the detected displacement of the vehicle posture. It is conceivable to control the display position of information by. However, since the displacement of the vehicle posture occurs at a high frequency during traveling (for example, during brake operation, accelerator operation, turning, passing through a gap, etc.), information on all vehicle posture displacements that occurred during traveling is provided. If the display position is controlled, the display position of information by the HUD is frequently changed, which causes a problem that it becomes difficult for the driver to visually recognize the displayed information.

  The present invention has been made to solve the above-described conventional problems, and is continuously generated without correcting the display position of the guidance information based on the sudden displacement of the vehicle posture with a short displacement time. By only correcting the display position of the guidance information based on the displacement of the vehicle posture, it becomes possible to display the guidance information appropriately superimposed on the guidance target point and display the guidance information easily for the driver. It is an object of the present invention to provide a vehicular travel guidance device, a vehicular travel guidance method, and a computer program that can be performed.

In order to achieve the above object, a vehicular travel guidance apparatus (1) according to claim 1 of the present application includes viewpoint position acquisition means (13) for acquiring a viewpoint position of a driver of a vehicle, the viewpoint position of the driver, and the Based on the position of the vehicle and the position of the guidance target point (71) outside the vehicle, a display position determining means for determining a display position for displaying the guidance information (72) superimposed on the guidance target point ( 13), information display means (13) for displaying the guidance information at the display position determined by the display position determination means, vehicle information acquisition means for acquiring vehicle information relating to the vehicle, and the surrounding environment of the vehicle The surrounding environment acquisition means (13) for acquiring the vehicle, and a section in which a braking force of a predetermined value or more is predicted to be continuously generated in the vehicle based on the vehicle information and the surrounding environment. Attitude based A correction target interval setting means state where the displacement that continues to set as the correction target section that will be predicted (13) to the posture during which the correction target section the vehicle travels, the display position determination And display position correction means (13) for correcting the display position for displaying the guidance information determined by the means in consideration of the displacement of the vehicle posture.

The vehicle travel guidance device (1) according to claim 2 is the vehicle travel guidance device according to claim 1 , wherein the vehicle information acquisition means (13) acquires the vehicle speed of the vehicle, and The environment acquisition means (13) acquires the recommended vehicle speed at the deceleration target point (71) ahead of the traveling direction of the vehicle, and the correction target section setting means is based on the vehicle speed of the vehicle and the recommended vehicle speed. Braking determination means (13) for determining whether or not a braking force required to be continuously generated to decelerate to the recommended vehicle speed before the vehicle reaches the deceleration target point is equal to or greater than the predetermined value. When the braking determination means determines that the required braking force is greater than or equal to the predetermined value, a section from the current position of the vehicle to the deceleration target point is set as a correction target section.
The “deceleration target point” includes, for example, an intersection, a curve, a toll gate, an obstacle, and the like. Also, obstacles include road construction and stationary obstacles.

Further, the vehicle travel guidance device (1) according to claim 3 is the vehicle travel guidance device according to claim 1 , wherein the vehicle information acquisition means (13) acquires the vehicle speed of the vehicle, and The environment acquisition means (13) acquires the vehicle speed of the forward vehicle traveling in front of the vehicle and the inter-vehicle distance to the forward vehicle, and the correction target section setting means (13) is configured to determine the vehicle speed of the vehicle and the vehicle speed of the forward vehicle. Based on the vehicle speed and the inter-vehicle distance, a section in which the vehicle continuously generates a braking force equal to or greater than the predetermined value in order to avoid contact with the preceding vehicle is set as a correction target section.
The “section in which the vehicle continuously generates a braking force greater than or equal to the predetermined value in order to avoid contact with the preceding vehicle” means, for example, that the vehicle continues to exert a braking force greater than or equal to the predetermined value from the current position. When it is generated automatically, there is a section to a point where the relative speed between the vehicle and the preceding vehicle becomes zero.

According to a fourth aspect of the present invention, there is provided the vehicular travel guidance apparatus (1) according to the first aspect, wherein the surrounding environment acquisition means (13) is provided on a road ahead in the traveling direction of the vehicle. Information regarding the gradient is acquired, and the control target section setting means (13) sets a section where the gradient of a predetermined angle or more continues as the correction target section.

Further, the vehicle travel guidance device (1) according to claim 5 is the vehicle travel guidance device according to any one of claims 1 to 4 , wherein the vehicle travels through the correction target section. There is provided a braking operation detecting means (13) for detecting an operation for generating a braking force of the vehicle, and the display position correcting means (13) detects an operation for generating the braking force of the vehicle by the braking operation detecting means. In this case, the display position for displaying the guidance information is corrected.

The vehicle travel guidance method (1) according to claim 6 includes a viewpoint position acquisition step of acquiring a viewpoint position of a driver of the vehicle, the viewpoint position of the driver, the position of the vehicle, and the outside of the vehicle. Based on the position of the guidance target point (71), the display position determination step for determining the display position for displaying the guidance information (73) superimposed on the guidance target point is determined by the display position determination step. An information display step for displaying the guidance information at the display position, a vehicle information acquisition step for acquiring vehicle information relating to the vehicle, a surrounding environment acquisition step for acquiring a surrounding environment of the vehicle, the vehicle information and the surroundings based on the environment, state the braking force more than a predetermined value to the vehicle a section it is expected that continuously generated, the vehicle posture of the vehicle is displaced to the reference position A correction target section setting step to continue to set as the correction target section that will be predicted, during which the correction target section the vehicle travels, the display position for displaying the guidance information determined by the display position determining step And a display position correcting step for correcting in consideration of the displacement of the vehicle posture.

Further, a computer program according to claim 7, the computer, guidance-target point in the viewpoint position acquisition function of acquiring the driver's viewpoint position of the vehicle, the vehicle outside the position of the the viewpoint position of the driver's vehicle A display position determination function for determining a display position for displaying the guidance information (73) superimposed on the guidance target point based on the position of (71), and the display determined by the display position determination function Based on the information display function for displaying the guidance information at a position, the vehicle information acquisition function for acquiring vehicle information related to the vehicle, the surrounding environment acquisition function for acquiring the surrounding environment of the vehicle, the vehicle information and the surrounding environment Te, a section braking force greater than a predetermined value to the vehicle is expected to continue to occur, the state in which the vehicle posture of the vehicle is displaced with respect to the reference posture continues Preparative a correction target section setting function to set as the correction target section that will be expected, during which the correction target section the vehicle travels, the display position for displaying the guidance information determined by said display position determination function, And a display position correction function that performs correction in consideration of the displacement of the vehicle posture.

  According to the vehicle travel guide apparatus having the above-described configuration, the vehicle information is continuously generated without correcting the display position of the guide information based on the sudden displacement of the vehicle posture with a short displacement time. Only the correction based on the displacement of the vehicle posture can be performed. As a result, it is possible to change the display position of the guidance information only under necessary conditions, and it is possible to display the guidance information appropriately superimposed on the guidance target point and to make it easy for the driver to visually recognize the guidance information. It is possible to display.

According to the vehicle travel guidance device according to claim 1, by predicting a section braking force to the vehicle is continuously generated, accurately predict the interval which the vehicle posture is displaced with respect to the reference posture It becomes possible.

According to the vehicular travel guidance device according to claim 2, when the deceleration target point that needs to travel at a low speed such as an intersection, a curve, or a toll gate is ahead of the traveling direction of the vehicle, This section can be appropriately set as the correction target section.

Further, according to the vehicle travel guidance device of the third aspect , when the front vehicle is located, the section in which the braking force is generated is appropriately set as the correction target section in order to avoid contact with the front vehicle. It becomes possible.

In addition, according to the vehicle travel guidance apparatus of the fourth aspect , when the road gradient is ahead of the traveling direction of the vehicle, it is possible to appropriately set the section where the road gradient continues as the correction target section. It becomes.

According to the vehicular travel guidance device of the fifth aspect , the correction of the display position of the guidance information based on the displacement of the vehicle posture can be started at an appropriate timing while the vehicle travels in the correction target section. It becomes possible.

According to the vehicle travel guidance method of the sixth aspect of the present invention, the vehicle that continuously occurs without correcting the display position of the guidance information based on the sudden displacement of the vehicle posture with a short displacement time. Only correction based on the displacement of the posture can be performed. As a result, the display position of the guidance information can be displaced only under necessary conditions, and the guidance information can be appropriately superimposed on the guidance target point and displayed, and the driver can easily view the guidance information. It is possible to display. In addition, by predicting a section in which braking force is continuously generated in the vehicle, it is possible to accurately predict a section in which the vehicle posture is displaced with respect to the reference posture.

Further, according to the computer program of the seventh aspect of the present invention, the vehicle position of the vehicle posture that is continuously generated can be reduced without correcting the display position of the guidance information based on the sudden displacement of the vehicle posture with a short displacement time. Only correction based on displacement can be performed. As a result, the display position of the guidance information can be displaced only under necessary conditions, and the guidance information can be appropriately superimposed on the guidance target point and displayed, and the driver can easily view the guidance information. It is possible to display. In addition, by predicting a section in which braking force is continuously generated in the vehicle, it is possible to accurately predict a section in which the vehicle posture is displaced with respect to the reference posture.

It is the block diagram which showed the navigation apparatus which concerns on this embodiment. It is the figure which showed the structure of HUD. It is a flowchart of the HUD display processing program which concerns on this embodiment. It is a flowchart of the sub process program of the display position determination process of guidance information which concerns on this embodiment. It is the figure which showed the example of a display of the guidance information by HUD. It is a flowchart of a HUD display position correction processing program according to the present embodiment. It is the figure which compared the area which corrects the display position of the guidance information of this invention and prior art.

  Hereinafter, a vehicle travel guide apparatus according to the present invention will be described in detail with reference to the drawings based on an embodiment embodied in a navigation apparatus. First, a schematic configuration of the navigation device 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to this embodiment.

  As shown in FIG. 1, the navigation apparatus 1 according to the present embodiment is based on a current position detection unit 11 that detects a current position of a vehicle, a data recording unit 12 that records various data, and input information. The navigation ECU 13 that performs various arithmetic processes, the operation unit 14 that receives operations from the user, the liquid crystal display 15 that displays a map and a guide route to the destination, and voice guidance related to route guidance are output to the user. The speaker 16, a DVD drive 17 that reads a DVD as a storage medium storing a program, a communication module 18 that communicates with an information center such as a traffic information center, and a CAN interface 19.

Below, each component which comprises the navigation apparatus 1 is demonstrated in order.
The current position detection unit 11 includes a GPS 21, a vehicle speed sensor 22, a steering sensor 23, a gyro sensor 24, an altimeter (not shown), and the like, and can detect the current vehicle position, direction, vehicle traveling speed, and the like. It has become. Here, in particular, the vehicle speed sensor 22 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the wheel of the vehicle, and outputs a pulse signal to the navigation ECU 13. And navigation ECU13 calculates the rotational speed and moving distance of a wheel by counting the pulse which generate | occur | produces. Note that the navigation device 1 does not have to include all the four types of sensors, and the navigation device 1 may include only one or more types of sensors.

  The data recording unit 12 is also a hard disk (not shown) as an external storage device and a recording medium, and a driver for reading the map information DB 31 and a predetermined program recorded on the hard disk and writing predetermined data on the hard disk And a recording head (not shown).

Here, the map information DB 31 stores various map data necessary for route guidance, traffic information guidance, and map display.
The map data specifically includes link data relating to road (link) shape, node data relating to node points, POI data which is information relating to points such as facilities, intersection data relating to each intersection, and search for searching for a route. Data, search data for searching for points, maps, roads, traffic information, and other images are composed of image drawing data for drawing on the liquid crystal display 15 and the like. In particular, as link data, information relating to road gradient and curve turning radius (R) is stored.
The map information DB 31 is updated based on update data distributed from a map distribution center or the like and update data provided via a storage medium (for example, a DVD or a memory card).

  On the other hand, the navigation ECU (Electronic Control Unit) 13 performs a guidance route setting process for setting a guidance route from the current position to the destination when a destination is selected, and a head-up display (hereinafter referred to as HUD) 50. Display position determination processing for determining the display position for displaying the guidance information related to the navigation device 1, information display processing for displaying the guidance information at the determined display position, and the vehicle continuously generating a braking force of a predetermined value or more. Is set as a correction target section as a section where the state where the vehicle posture is displaced with respect to the reference posture is predicted to be continued, while the correction target section is running. The entire navigation device 1 such as a display position correction process for correcting the display position of the guidance information by the HUD 50 Is an electronic control unit which performs control. The CPU 41 as an arithmetic device and a control device, the RAM 41 used as a working memory when the CPU 41 performs various arithmetic processes, a RAM 42 for storing route data when a route is searched, and a control program In addition, an internal storage such as a ROM 43 in which a HUD display processing program (see FIGS. 3 and 4) and a HUD display position correction processing program (see FIG. 6), which will be described later, are recorded, and a flash memory 44 in which a program read from the ROM 43 is stored. Equipment.

  Here, the HUD 50 is a display system that displays guidance information on a vehicle window such as a windshield in the field of view of the normal driving position of the driver. Specifically, as shown in FIG. 2, a projector 53 disposed above an instrument panel 52 of a vehicle 51, a HUD control ECU 54 that controls the projector 53, and a windshield 55 that is coated with a transparent reflective film Composed. In the HUD 50, the projection images (arrows, characters, frames, etc.) generated by the navigation ECU 13 and the HUD control ECU 54 are projected onto the windshield 55 by the projector 53. As a result, the projected image is displayed on the windshield 55, and the driver 56 can visually recognize the displayed guidance information without moving the viewpoint. Further, the projector 53 can adjust the projection angle of the guidance information to an arbitrary angle. As will be described later, the projection angle is determined according to the display position for displaying the guidance information determined based on the viewpoint position and the vehicle posture of the driver. Thereby, the guide information can be displayed at an arbitrary position on the windshield 55. The guidance information displayed on the windshield 55 by the HUD 50 includes, for example, the current speed of the vehicle, indicators, lane information, route guidance information by the navigation device 1, position information of obstacles ahead of the vehicle, and pre-crash collisions. There are warnings.

In addition, guidance information is superimposed on the scenery outside the vehicle seen from the windshield 55 by the HUD 50 and displayed. In that case, display the point where the guidance information is to be superimposed (hereinafter referred to as the guidance target point) and the guidance information (arrows, characters, frames, etc.) displayed on the train window so as to coincide with each other. Therefore, it is possible to exert a new effect. For example, when displaying the route guidance information by the navigation device 1, it is possible to more clearly specify the intersection for guiding the right turn by displaying the arrow for prompting the right turn on the intersection for guiding the right turn. is there. In addition, when displaying the position information of an obstacle in front of the vehicle, the position of the obstacle is surely grasped by displaying a frame surrounding the obstacle on the obstacle. It becomes possible.
In this embodiment, the HUD 50 is used as a means for displaying the guidance information superimposed on the scenery outside the vehicle. However, a head mounted display (HMD) that is mounted on the driver's head may be used instead of the HUD 50. good.

  Returning to FIG. 1 and continuing the description, the operation unit 14 is operated when inputting a starting point as a travel start point and a destination as a travel end point, and a plurality of operation switches such as various keys and buttons ( (Not shown). Then, the navigation ECU 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. In addition, it can also be comprised by the touchscreen provided in the front surface of the liquid crystal display 15.

  The liquid crystal display 15 includes a map image including a road, traffic information, operation guidance, operation menu, key guidance, guidance route from the departure point to the destination, guidance information along the guidance route, news, weather forecast, Time, mail, TV program, etc. are displayed.

  The speaker 16 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 13 and traffic information guidance.

  The DVD drive 17 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Then, the map information DB 31 is updated based on the read data.

In addition, the communication module 18 is traffic information composed of information such as traffic jam information, regulation information, and traffic accident information transmitted from a traffic information center such as a VICS (registered trademark: Vehicle Information and Communication System) center or a probe center. For example, a mobile phone or DCM.
Furthermore, in this embodiment, the communication module 18 also receives information related to the lighting mode of the traffic lights installed on the road from the information center or the like.

  The CAN (controller area network) interface 19 is an interface for inputting / outputting data to / from CAN, which is an in-vehicle network standard that performs multiplex communication between various control ECUs installed in a vehicle. The navigation ECU 13 is configured to control various vehicles via the CAN, such as various control ECUs and sensors (for example, a HUD control ECU 54, a back camera 61, a driver monitor camera 62, a suspension ECU 63, a millimeter wave radar control ECU 64, a brake control ECU 65, An AT control ECU, an indicator control ECU, etc.). Further, the navigation ECU 13 determines and corrects the display position of the guidance information by the HUD 50 based on various data (vehicle attitude, driver image, brake operating state, etc.) acquired from the various control ECUs via the CAN as will be described later. I do.

Next, the back camera 61, the driver monitor camera 62, the suspension ECU 63, the millimeter wave radar control ECU 64, and the brake control ECU 65 among the various control ECUs and sensors connected via the CAN will be described.
The back camera 61 is installed behind the vehicle and photographs the road surface on which the vehicle is traveling. And navigation ECU13 specifies the detailed present position and driving lane of a vehicle based on the road marking contained in the image | video imaged with the back camera 61, or the image information of a lane boundary line. Since the detailed current position of the vehicle using the back camera 61 and the technology for specifying the traveling lane are known techniques, the details are omitted.
The driver monitor camera 62 uses, for example, a solid-state imaging device such as a CCD, and is attached to the upper surface of the instrument panel 52 and installed with the line-of-sight direction facing the driver's seat. Then, the face of the driver sitting in the driver's seat is imaged. The navigation ECU 13 detects the position of the driver's viewpoint from the image captured by the driver monitor camera 62. Note that the technique for detecting the viewpoint position of the driver using the driver monitor camera 62 is a known technique and will not be described in detail.
The suspension ECU 63 is an electronic control unit that controls the suspension of the vehicle. The millimeter wave radar control ECU 64 is an electronic control unit to which a millimeter wave radar (not shown) is connected and which measures the position of an obstacle (front vehicle) and the relative speed with the host vehicle by the millimeter wave radar. The brake control ECU 65 is an electronic control unit that performs brake control of the vehicle. The various control ECUs include a CPU, RAM, ROM, etc. (not shown).

  Next, the HUD display processing program executed in the navigation device 1 having the above configuration will be described with reference to FIGS. FIG. 3 is a flowchart of the HUD display processing program according to this embodiment. Here, the HUD display processing program is a program that is executed at predetermined time intervals (for example, every 200 msec) after the ACC of the vehicle is turned on, and displays guidance information related to the navigation device 1 on the windshield by the HUD 50. The programs shown in the flowcharts of FIGS. 3, 4, and 6 below are stored in the RAM 42, ROM 43, and the like provided in the navigation ECU 13 and executed by the CPU 41.

First, in the HUD display processing program, in step (hereinafter abbreviated as S) 1, the CPU 41 determines whether or not to display guidance information on the windshield 55 of the vehicle by the HUD 50. The guidance information displayed by the HUD 50 includes the current speed of the vehicle, indicators, lane information, route guidance information by the navigation device 1, position information of obstacles ahead of the vehicle, pre-crash collision warning, etc. Below, the example which displays the route guidance information by the navigation apparatus 1 especially is demonstrated.
Note that whether or not the guidance information from the navigation device 1 is displayed on the windshield 55 of the vehicle by the HUD 50 is a positional relationship between the current position of the vehicle and a point on which the guidance information is to be superimposed (guidance target point). It is determined based on. For example, when displaying guidance information for guiding a left or right turn at an intersection by the navigation device 1, the guidance information is transmitted to the vehicle by the HUD 50 from when the intersection of the guidance target point approaches within 300 m until passing the intersection. Is displayed on the windshield 55. In addition, the positional relationship between the current position of the vehicle and the guidance target point is specified based on the map information stored in the GPS 21, the gyro sensor 24, and the map information DB 31.

  And when it determines with displaying guidance information with respect to the windshield 55 of a vehicle by HUD50 by said S1 (S1: YES), it transfers to S2. On the other hand, when it is determined that the guidance information is not displayed on the windshield 55 of the vehicle by the HUD 50 (S1: NO), the HUD display processing program is terminated.

  In S2, the CPU 41 generates guidance information displayed by the HUD 50, that is, image information to be projected by the projector 53 (FIG. 2). The guide information is generated based on the current position of the vehicle with respect to the guide route to the destination set in the navigation device 1. For example, when there is a guidance intersection that guides a right turn ahead of the vehicle, an image of an arrow that prompts the user to make a right turn at the intersection is generated as guidance information. Further, when there is a guidance intersection that guides the user to turn left in front of the vehicle, an image of an arrow that prompts the user to make a left turn at the intersection is generated as guidance information. The CPU 41 may generate guidance information in the HUD control ECU 54 by transmitting instruction information to the HUD control ECU 54.

  Subsequently, in S3, the CPU 41 performs guide information display position determination processing (FIG. 4), which will be described later. Note that the guidance information display position determination process is performed based on the driver's viewpoint position, the current position of the vehicle, and the position of the guidance target point. This is a process for determining the display position (projection angle by the projector 53) of the windshield 55 for superimposing display.

  Thereafter, in S4, the CPU 41 transmits the guidance information generated in S2 and the information on the display position determined in S3 to the HUD control ECU 54. In response to this, the HUD control ECU 54 adjusts the projection angle of the projector 53 to an angle corresponding to the determined display position, and the guidance information generated in S <b> 2 of the windshield 55 determined in S <b> 3 by the projector 53. Project to the display position. As a result, it is possible to display the guidance information at a position to be superimposed on the guidance target point as seen from the driver. Here, FIG. 5 is a diagram showing a display example of guidance information by the HUD 50.

In the example shown in FIG. 5, guidance information 72 displayed when a route for turning left at an intersection 71 is set in the navigation device 1 is shown. Here, the guidance information 72 includes an image of an arrow indicating that the vehicle turns right at the intersection 71 from the road on which the vehicle currently travels. The guidance information 72 projected by the projector 53 is displayed at a position overlapping the intersection 71 on the windshield 55 as viewed from the driver. As a result, the driver can clearly grasp that the route to the destination set in the navigation device 1 is a route that turns right at the intersection 71 ahead.
The processes of S2 to S4 are repeatedly executed while it is determined that the guidance information is displayed on the windshield 55 of the vehicle by the HUD 50.

  Next, a sub-processing program of the guidance information display position determination process executed in S3 will be described with reference to FIG. FIG. 4 is a flowchart of a sub-processing program for guide information display position determination processing according to the present embodiment.

  First, in S <b> 11, the CPU 41 acquires information on the current position and direction of the vehicle based on the detection results of the GPS 21 and the gyro sensor 24. Further, based on the map information stored in the map information DB 31, map matching processing for specifying the current position of the vehicle on the map is also performed.

  Next, in S <b> 12, the CPU 41 acquires information regarding the position of a guidance target point (intersection or the like) that is a target for superimposing guidance information. Specifically, based on the current position of the vehicle and the guidance route set by the navigation device 1, the position coordinates of the intersection that guides the left / right turn ahead of the traveling direction of the vehicle are acquired.

  Subsequently, in S13, the CPU 41 acquires the driver's viewpoint position. Specifically, the driver's image captured by the driver monitor camera 62 is subjected to image processing to detect the positions of the right eye and left eye of the driver, and the viewpoint position is determined based on the position of each eye. Is calculated as a three-dimensional relative position. Since the process of detecting the driver's viewpoint position from the image captured by the driver monitor camera 62 is already known, the details are omitted. Further, the driver's viewpoint position may be acquired as a predetermined default value. Moreover, it is good also as a structure which can change a viewpoint position with a driver | operator.

Thereafter, in S14, the CPU 41 is generated in S2 based on the current position and direction of the vehicle acquired in S11, the position of the guidance target point acquired in S12, and the viewpoint position of the driver acquired in S13. The display position of the windshield 55 (ie, the projection angle of the projector 53) for displaying the guidance information superimposed on the guidance target point as seen from the driver is calculated. Since the process for calculating the display position of the guidance information is already known, the details are omitted. In S14, the CPU 41 also calculates the display size for displaying the guidance information generated in S2 based on the distance from the vehicle to the guidance target point.
Thereafter, the process proceeds to S4.

  Next, the HUD display position correction processing program executed in the navigation device 1 will be described with reference to FIG. FIG. 6 is a flowchart of the HUD display position correction processing program according to the present embodiment. Here, the HUD display position correction processing program is executed while the guidance information is displayed in the above-described HUD display processing program (FIGS. 3 and 4), and the guidance information displayed on the windshield by the HUD 50 is displayed. This program corrects the position.

  First, in the HUD display position correction processing program, in S21, the CPU 41 acquires vehicle information related to the host vehicle based on the detection results of the GPS 21, the vehicle speed sensor 22, the gyro sensor 24, and the like and information acquired via CAN. Note that the vehicle information acquired in S1 includes the current vehicle speed, current position, and direction of the vehicle, as well as the lighting state of the indicator, the guide route set in the navigation device 1, the inter-vehicle distance from the preceding vehicle, There are relative speeds. Moreover, about the identification of the present position of a vehicle, based on the map information memorize | stored in map information DB31, the map matching process which identifies the present position of a vehicle on a map is also performed.

  Next, in S22, the CPU 41 acquires the surrounding environment of the vehicle. Specifically, the road shape and the like of the road ahead of the traveling direction of the vehicle is acquired. In particular, in the case of a curved road, the turning radius and the recommended vehicle speed when entering the curve are also acquired. In addition, when there is an intersection, the recommended vehicle speed at the time of turning left and right is also acquired. Furthermore, when there is an intersection with a traffic light ahead of the traveling direction of the vehicle, the lighting state of the traffic light is also acquired via the communication module 18.

Subsequently, in S23, the CPU 41 predicts that a braking force of a predetermined value or more is continuously generated in the vehicle based on the vehicle information acquired in S21 and the vehicle surrounding environment acquired in S22. And the specified section is set as a correction target section as a section in which a state in which the vehicle posture is displaced with respect to the reference posture is predicted to continue.
Note that the braking force of the predetermined value is a braking force that causes a shift in the display position of the guidance information to the extent that the driver feels uncomfortable unless the display position is corrected. Further, the braking force having a predetermined value may be obtained by experiment. Further, the braking force value of a predetermined value may be changed for each scene (for example, for each of the following (A) to (D)).

Hereinafter, the process of S23 will be described in detail.
In the present embodiment, a section in which a braking force of a predetermined value or more is predicted to be continuously generated in the vehicle is a section corresponding to any of the following (A) to (D).
(A) There is an intersection with a traffic light in front of the direction of travel of the vehicle, and the traffic light is lit in red. It continues to decelerate to the recommended vehicle speed (0 km / h) before reaching the intersection. A section from the current position of the vehicle to the intersection when it is determined that the braking force that needs to be applied is a predetermined value (for example, 0.2 G) or more.
(B) When there is an intersection ahead of the direction of travel of the vehicle and there is a traffic light at the intersection, the traffic light is lit in blue, and the navigation device 1 guides the route to turn left or right at the intersection, or the indicator The braking force that is required to be continuously generated in order to decelerate to the recommended vehicle speed (for example, 10 km / h) at the time of turning right and left before reaching the intersection is a predetermined value (for example, 0.2 G) A section from the current position of the vehicle to the intersection when it is determined to be greater than or equal to
(C) There is a curve ahead in the traveling direction of the vehicle, and a braking force that must be continuously generated to decelerate to the recommended vehicle speed (for example, 20 km / h) when entering the curve before reaching the curve. A section from the current position of the vehicle to the start point of the curve when it is determined to be equal to or greater than a predetermined value (for example, 0.2 G).
(D) From the current position of the own vehicle when there is a preceding vehicle and the own vehicle continuously generates a braking force of a predetermined value (for example, 0.2 G) or more in order to avoid contact with the preceding vehicle. A section up to the point where the relative speed between the host vehicle and the vehicle ahead becomes zero.

  When it is determined that there is a section corresponding to any of the above (A) to (D) in the forward direction of the vehicle, the section is set as a correction target section. The set correction target section is specified by coordinates and link numbers and stored in the RAM 42. Thereafter, the process proceeds to S24. If it is determined that there is no section corresponding to any of the above (A) to (D) in the forward direction of the vehicle, the process proceeds to S24 without setting the correction target section.

  In S24, the CPU 41 determines whether or not the correction target section is set in S23.

  And when it determines with the correction object area having been set (S24: YES), it transfers to S25. On the other hand, when it is determined that the correction target section is not set (S24: NO), the HUD display position correction processing program is terminated without correcting the display position of the guidance information by the HUD.

  Subsequently, in S25, the CPU 41 determines whether or not an operation for generating a braking force of the vehicle is detected as a trigger for starting correction control. The operation for generating the braking force of the vehicle includes, for example, brake operation, shift down, accelerator off, and the like, which are detected based on the vehicle information acquired through the CAN. Note that the type of trigger detected in S26 may be limited based on the type of correction target section in which the vehicle travels. For example, when traveling in the section (A) to (C), only the brake operation is detected, and when traveling in the section (D), only the brake operation or accelerator off is detected. Also good.

  And when it determines with having detected operation which generates the braking force of a vehicle (S25: YES), it transfers to S26. On the other hand, when it is determined that the operation for generating the braking force of the vehicle cannot be detected (S25: NO), it is determined whether or not the operation for continuously generating the braking force of the vehicle has been detected.

  In S26, the CPU 41 detects the displacement of the vehicle posture from the reference posture due to the occurrence of the braking force based on the information acquired from the suspension ECU 63. The vehicle attitude information is detected by six types of parameters (yaw rotation amount, roll rotation amount, pitch rotation amount, front-rear movement amount, left-right movement amount, and vertical movement amount). That is, the roll center when the vehicle is stopped at the center of the road (the center of the left and right road boundary lines L when there is a road boundary line L) is the X axis (for example, on the X axis) horizontally to the road surface. (1) The yaw of the vehicle is defined as the Y-axis that is perpendicular to the road boundary line L and the Z-axis is the line that is perpendicular to the road surface passing through the intersection of the X-axis and Y-axis. The rotation amount is the rotation amount around the Z axis (XY plane), (2) the pitch rotation amount of the vehicle is the rotation amount around the Y axis (XZ plane), and (3) the roll rotation amount of the vehicle is The amount of rotation about the X axis (YZ plane), (4) the amount of forward and backward movement of the vehicle is the amount of movement in the X axis direction, (4) the amount of lateral movement of the vehicle is the amount of movement in the Y axis direction, (6) The amount of vertical movement of the vehicle is defined as the amount of movement in the Z-axis direction. Note that the vehicle attitude information can be obtained only by the rotation amount of the yaw, pitch, and roll. Therefore, when priority is given to the simplification of information processing over the accuracy, the vehicle attitude information can be obtained only with three types of rotation amounts. You may get Further, vehicle posture information may be acquired only from the pitch rotation amount. Moreover, it is good also as a structure which estimates the displacement of a vehicle attitude | position based not on the displacement of a suspension but on vehicle operation information, such as brake operation.

  Next, in S27, the CPU 41 determines the guidance target point when viewing the guidance information from the driver in a state where the braking force is generated in the vehicle based on the displacement of the vehicle posture detected in S26, that is, the vehicle posture is displaced. A display position to be superimposed and displayed is newly calculated. And the information regarding the display position (projection angle by the projector 53) of the new guidance information calculated with respect to HUD control ECU54 is transmitted. In response, the HUD control ECU 54 adjusts the projection angle of the projector 53 to an angle corresponding to the newly calculated display position. As a result, the display position of the guidance information displayed by the HUD 50 is corrected in consideration of the displacement of the vehicle posture detected in S26, and the guidance information is displayed superimposed on the guidance target point as viewed from the driver. It is possible to display at a proper display position.

  In the process of S27, in addition to the process of S3, the CPU 41 includes six types of parameters (yaw rotation amount, roll rotation amount, pitch rotation amount, forward / backward movement amount, left / right movement amount, and vertical movement amount) detected in S26. A process of calculating using the displacement is executed. Accordingly, it is possible to calculate the display position where the guidance information is superimposed on the guidance target point when viewed from the driver in a state where the braking force is generated in the vehicle, that is, the vehicle posture is displaced.

  Subsequently, in S28, the CPU 41 compares the current position of the vehicle with the correction target section set in S23, and determines whether or not the vehicle is traveling in the correction target section. When it is determined that the vehicle is traveling in the correction target section (S28: YES), the process returns to S26, and the correction of the display position of the guidance information based on the displacement of the vehicle posture is continuously performed. On the other hand, when it is determined that the vehicle is not traveling in the correction target section (S28: NO), the correction of the display position of the guidance information based on the displacement of the vehicle posture is ended.

That is, in the present invention, only when the vehicle travels in the correction target section, the display position of the guidance information is corrected based on the displacement of the vehicle posture. As a result, for example, as shown in FIG. 7, in the case where the vehicle posture is displaced based on the generation of the braking force of the vehicle in the sections a to e with respect to the traveling vehicle, the following differences from the comparative example are obtained. Occurs.
In the comparative example, vehicle postures (yaw rotation amount, roll rotation amount, pitch rotation amount, forward / backward movement amount, left / right movement amount, and vertical movement amount) are detected by sensors installed in the vehicle, and all detected vehicle postures are detected. It is assumed that the display position of information by the HUD is always controlled according to the displacement.
As shown in FIG. 7, in the comparative example, the display position of the guidance information is corrected based on the displacement of each vehicle posture in all the sections a to e. On the other hand, in the present invention, the display position of the guidance information based on the displacement of the vehicle posture is corrected only in the section c located within the set correction target section among the sections a to e. As a result, in the present invention, the display position of the guidance information is not changed with respect to the displacement of the vehicle posture (displacement in the sections a, b, d, e in FIG. 7) with a short displacement time, and the vehicle is continuously generated. The display position of the guidance information can be changed only with respect to the posture displacement (displacement in the section c in FIG. 7).

As described in detail above, in the navigation device 1 according to the present embodiment, the vehicle travel guidance method using the navigation device 1, and the computer program executed by the navigation device 1, the guidance information related to the navigation device 1 is displayed by the HUD 50. In addition, vehicle information related to the vehicle and the surrounding environment of the vehicle are respectively acquired (S21, S22), and a braking force of a predetermined value or more is continuously generated in the vehicle based on the acquired vehicle information and the surrounding environment of the vehicle. The predicted section is specified, and the specified section is set as a correction target section as a section in which the state in which the vehicle posture is displaced with respect to the reference posture is predicted to be continued (S23). While the vehicle is traveling in the correction target section, the display position for displaying the guidance information is based on the generation of the braking force of the vehicle. Therefore, the vehicle posture is continuously generated without correcting the display position of the guidance information based on the sudden displacement of the vehicle posture with a short displacement time (S27). Only the correction based on the displacement of can be performed. As a result, it is possible to change the display position of the guidance information only under necessary conditions, and it is possible to display the guidance information appropriately superimposed on the guidance target point and to make it easy for the driver to visually recognize the guidance information. It is possible to display.
Further, when it is determined that there is a section corresponding to any of the above (A) to (C), the section is set as a correction target section, so the vehicle travels at a low speed such as an intersection, a curve or a toll gate. When the necessary deceleration target point is ahead of the traveling direction of the vehicle, the section to the deceleration target point can be appropriately set as the correction target section.
If it is determined that there is a section corresponding to (D), the section is set as a correction target section. Therefore, when the preceding vehicle is located, control is performed to avoid contact with the preceding vehicle. It is possible to appropriately set the section in which power is generated as the correction target section.
Further, when the operation for generating the braking force of the vehicle is detected as a trigger for starting the correction control while the vehicle travels in the set correction target section, the display position for displaying the guidance information is corrected (S27). The correction of the display position of the guidance information based on the displacement of the vehicle posture can be started at an appropriate timing.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in the present embodiment, the sections corresponding to the above (A) to (D) are given as the sections to be set as the correction target sections, but sections that satisfy other conditions may be set as the correction target sections. For example, if there is a toll booth in the forward direction of the vehicle and it reaches the toll booth, it will decelerate to the recommended vehicle speed (0 km / h for normal gates and 20 km / h for ETC-compatible gates). When it is determined that the braking force that needs to be continuously generated is greater than or equal to a predetermined value (for example, 0.2 G), the section from the current position of the vehicle to the toll gate is set as the correction target section. Also good. Furthermore, in the conditions (A) to (D), the determination may be made based on the deceleration rather than the braking force.

Further, when there is a gradient ahead of the traveling direction of the vehicle and the gradient is equal to or greater than a predetermined angle, the state where the vehicle posture is displaced with respect to the reference posture continues in a section where the gradient continues. May be set as a correction target section as a section in which is predicted. In this case, the predetermined angle is an angle that causes a shift in the display position of the guidance information to the extent that the driver feels uncomfortable when the front of the vehicle sinks due to the slope of the road, or the driver for traveling at a constant speed Is an angle at which a braking force exceeding a predetermined value is generated by performing a braking operation. As a result, when the road gradient is ahead of the traveling direction of the vehicle, it is possible to appropriately set the section where the road gradient continues as the correction target section.
Other sections subject to correction, such as a section where a bad road continues, a section where the curve continues for a predetermined distance, and a section where the vehicle posture is displaced from the reference posture on an acceleration road, etc. It may be set to.

  In the present embodiment, the guide information is projected onto the windshield 55 by the HUD 50. However, the guide information may be projected onto an area other than the windshield (for example, the side glass).

  Moreover, although this embodiment demonstrated the example which applied this invention to the display position correction | amendment of the guidance information of the navigation apparatus 1 by HUD50, other guidance information (For example, the present speed of a vehicle, an indicator, lane information, vehicle front) The present invention may be applied to display position correction of position information of an obstacle, pre-crash collision warning, and the like.

In this embodiment, the displacement of the vehicle posture from the reference posture is detected (S26), and the correction amount of the display position of the guidance information is calculated from the detected displacement (S27). The correction amount is a fixed value. Also good.
Further, a table in which the braking force (or displacement of the vehicle attitude) generated in the vehicle is associated with the correction amount of the display position of the guidance information is stored in the RAM 42, and the braking force generated in the vehicle (or the detected vehicle) is stored. The amount of correction of the display position of the guidance information may be specified based on the displacement of the posture.

  Also, the CPU 41 may be configured to perform all the processes of the HUD display processing program (see FIGS. 3 and 4) and the HUD display position correction processing program (see FIG. 6).

1 Navigation device 13 Navigation ECU
41 CPU
42 ROM
43 RAM
42 Curve mirror 50 HUD
55 Windshield 71 Intersection (Guidance target point)
72 Guidance information

Claims (7)

Viewpoint position acquisition means for acquiring the viewpoint position of the driver of the vehicle;
Display position determination for determining a display position for displaying guidance information superimposed on the guidance target point, based on the viewpoint position of the driver, the position of the vehicle, and the position of the guidance target point outside the vehicle Means,
Information display means for displaying the guidance information at the display position determined by the display position determination means;
Vehicle information acquisition means for acquiring vehicle information relating to the vehicle;
A surrounding environment acquisition means for acquiring a surrounding environment of the vehicle;
A state in which the vehicle posture of the vehicle is displaced with respect to a reference posture in a section where it is predicted that a braking force of a predetermined value or more is continuously generated in the vehicle based on the vehicle information and the surrounding environment. a correction target section setting unit but set as the correction target section to continue the Ru is predicted,
Display position correction means for correcting the display position for displaying the guidance information determined by the display position determination means in consideration of the displacement of the vehicle posture while the vehicle travels in the correction target section; A vehicular travel guidance apparatus comprising: The vehicle information acquisition means acquires the vehicle speed of the vehicle,
The surrounding environment acquisition means acquires a recommended vehicle speed at a deceleration target point ahead of the traveling direction of the vehicle,
The correction target section setting means includes
Based on the vehicle speed of the vehicle and the recommended vehicle speed, is the braking force required to be continuously generated for the vehicle to decelerate to the recommended vehicle speed before reaching the deceleration target point is not less than the predetermined value? Braking determination means for determining whether or not,
The section from the current position of the vehicle to the deceleration target point is set as a correction target section when the braking determination means determines that the required braking force is greater than or equal to the predetermined value. vehicular travel guidance device according to 1. The vehicle information acquisition means acquires the vehicle speed of the vehicle,
The surrounding environment acquisition means acquires a vehicle speed of a forward vehicle traveling in front of the vehicle and an inter-vehicle distance to the forward vehicle,
Based on the vehicle speed of the vehicle, the vehicle speed of the preceding vehicle, and the inter-vehicle distance, the correction target section setting means continuously applies a braking force equal to or greater than the predetermined value so that the vehicle avoids contact with the preceding vehicle. The vehicle travel guide device according to claim 1 , wherein a section to be generated is set as a correction target section. The surrounding environment acquisition means acquires information related to a road gradient ahead of the vehicle in the traveling direction,
The vehicular travel guidance apparatus according to claim 1, wherein the control target section setting means sets a section where a gradient of a predetermined angle or more continues as a correction target section. A brake operation detecting means for detecting an operation for generating a braking force of the vehicle while the vehicle travels in the correction target section;
The display position correcting means corrects a display position for displaying the guidance information when an operation for generating a braking force of the vehicle is detected by the braking operation detecting means. Item 5. The vehicle travel guide device according to any one of Items 4 to 6. A viewpoint position acquisition step of acquiring the viewpoint position of the driver of the vehicle;
Display position determination for determining a display position for displaying guidance information superimposed on the guidance target point, based on the viewpoint position of the driver, the position of the vehicle, and the position of the guidance target point outside the vehicle Steps,
An information display step for displaying the guidance information at the display position determined by the display position determination step;
Vehicle information acquisition step for acquiring vehicle information related to the vehicle;
A surrounding environment acquisition step of acquiring a surrounding environment of the vehicle;
A state in which the vehicle posture of the vehicle is displaced with respect to a reference posture in a section where it is predicted that a braking force of a predetermined value or more is continuously generated in the vehicle based on the vehicle information and the surrounding environment. a correction target section setting step for setting as a correction target section that will be expected to but continues,
A display position correction step for correcting the display position for displaying the guidance information determined in the display position determination step in consideration of the displacement of the vehicle posture while the vehicle travels in the correction target section; A vehicular travel guidance method comprising: On the computer ,
A viewpoint position acquisition function for acquiring the viewpoint position of the driver of the vehicle;
Display position determination for determining a display position for displaying guidance information superimposed on the guidance target point, based on the viewpoint position of the driver, the position of the vehicle, and the position of the guidance target point outside the vehicle Function and
An information display function for displaying the guidance information at the display position determined by the display position determination function;
A vehicle information acquisition function for acquiring vehicle information related to the vehicle;
A surrounding environment acquisition function for acquiring the surrounding environment of the vehicle;
A state in which the vehicle posture of the vehicle is displaced with respect to a reference posture in a section where it is predicted that a braking force of a predetermined value or more is continuously generated in the vehicle based on the vehicle information and the surrounding environment. a correction target section setting function but set as the correction target section is Ru is expected to continue,
A display position correction function for correcting the display position for displaying the guidance information determined by the display position determination function while the vehicle travels in the correction target section in consideration of the displacement of the vehicle attitude;
A computer program for executing

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