JP5434116B2 - In-vehicle display device - Google Patents

Description

  The present invention relates to an in-vehicle display device that displays an image in a vehicle interior.

  As the vehicle moves, the relative displacement of the display monitor screen with respect to the occupant's eyeball is calculated, and the image is moved on the screen to cancel the relative displacement, so that the occupant does not feel uncomfortable. A vehicle-mounted display device is known (see, for example, Patent Document 1).

JP 2004-224315 A

  However, a relatively high frequency vibration causes a phase difference between the vibration generated on the screen and the vibration generated on the occupant, and there is a problem that it may be difficult for the occupant to view the image.

  The problem to be solved by the present invention is to provide an in-vehicle display device that allows an occupant to stably view an image.

The present invention solves the above-mentioned problem by changing an occupant's vibration parameter included in a vibration transmission model for estimating the occupant's movement based on the amplitude of the occupant's movement .
Further, the present invention solves the above problem by estimating the movement of the vehicle at the occupant's seating position based on the vehicle speed, the installation position of the vehicle motion detection means, and the occupant's seating position.

  According to the present invention, when the occupant motion estimation means estimates the movement of the occupant, it is possible to take into account the phase difference that occurs between the screen movement and the occupant movement. A stable image can be provided to the occupant.

FIG. 1 is a schematic cross-sectional view showing the interior of a vehicle in the first embodiment of the present invention. FIG. 2 is a block diagram showing the overall configuration of the in-vehicle display device according to the first embodiment of the present invention. FIG. 3 is a diagram showing an example of an elastic deformation mode (bending node 2) of the vehicle body. FIG. 4 is a graph showing the amplitude dependence of the vibration characteristics of the seat. FIG. 5A is a graph showing an amplitude-rigidity table of a seat included in the seat / occupant parameter correction unit of the in-vehicle display device of FIG. 5B is a graph showing a seat amplitude-attenuation coefficient table included in the seat / occupant parameter correction unit of the in-vehicle display device of FIG. 6A is a graph showing an occupant amplitude-rigidity table included in the seat / occupant parameter correction unit of the in-vehicle display device of FIG. 6B is a graph showing an occupant amplitude-attenuation coefficient table included in the seat / occupant parameter correction unit of the in-vehicle display device of FIG. FIG. 7 is a flowchart showing the operation of the in-vehicle display device according to the first embodiment of the present invention. FIG. 8 is a block diagram showing the overall configuration of the in-vehicle display device according to the second embodiment of the present invention. FIG. 9 is a schematic sectional view showing the interior of the vehicle according to the second embodiment of the present invention. FIG. 10A is a graph showing a vehicle load / rigidity table included in the vehicle parameter correction unit of the in-vehicle display device of FIG. FIG. 10B is a graph showing a vehicle loading amount-attenuation coefficient table included in the vehicle parameter correction unit of the in-vehicle display device of FIG. FIG. 11 is a flowchart showing the operation of the in-vehicle display device according to the second embodiment of the present invention. FIG. 12 is a block diagram showing the overall configuration of the in-vehicle display device according to the third embodiment of the present invention. FIG. 13 is a flowchart showing the operation of the in-vehicle display device according to the third embodiment of the present invention. FIG. 14 is a graph for explaining a frequency component (wheelbase order component) derived from a time difference in vibration input between the front and rear wheels of the vehicle.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<First Embodiment>
FIG. 1 is a schematic cross-sectional view showing the interior of a vehicle according to this embodiment, FIG. 2 is a block diagram showing the overall configuration of an in-vehicle display device according to this embodiment, and FIG. 3 is a diagram showing an example of an elastic deformation mode of a vehicle body. Is a graph showing the amplitude dependence of the vibration characteristics of the seat, and FIGS. 5A to 6B are graphs showing a table (Look up Table) of the seat / occupant parameter correction unit.

  As shown in FIG. 1, the in-vehicle display device 10 </ b> A according to the present embodiment stably provides an image displayed on the screen 41 of the display monitor 40 to, for example, an occupant 3 seated on the seat 2 of the vehicle 1. It is a device for doing. As shown in FIG. 2, the in-vehicle display device 10A includes a vehicle motion detection device 20 that detects the movement of the vehicle 1, an image control device 30A that controls an image based on the detection result of the vehicle motion detection unit device 20, and And a display monitor 40 that displays an image controlled by the image control device 30A on a screen 41.

  The vehicle motion detection device 20 includes an acceleration sensor 21 and an angular velocity sensor 22 and can detect the movement of the vehicle 1 including vibration. The acceleration sensor 21 measures acceleration along the front-rear and left-right directions of the vehicle 1 (the Y direction and the X direction in FIG. 1). The angular velocity sensor 22 measures the angular velocity in the pitch and the roll direction of the vehicle 1 (the rotational direction centering on the X direction and the Y direction in FIG. 1). The acceleration sensor 21 and the angular velocity sensor 22 are connected to the image control device 30A, and each measurement result can be output to the image control device 30A.

  FIG. 3 shows an example of the elastic deformation mode (bending node 2) of the vehicle 1. In this mode, a bending motion is generated in which the vicinity of the front and rear wheels becomes a node and the vicinity of the center of the vehicle body becomes an abdomen. Since the display monitor 40 is generally installed near the center of the vehicle body, the amplitude in the vicinity of the display monitor 40 is large in this mode, although the amplitude is small in the rear seat. Therefore, it is preferable to provide the acceleration sensor 21 and the angular velocity sensor 22 in the vicinity of the display monitor 40.

  The image control device 30A is composed of a microcomputer including a CPU, a ROM, a RAM, an A / D converter, an interface, and the like. Functionally, as shown in FIG. 2, a vehicle / occupant motion estimation unit 31, A seat / occupant parameter correction unit 32, a control delay correction unit 33, an image input unit 34, and an image control unit 35 are provided.

In the vehicle / occupant motion estimation unit 31, a vibration transmission model G (s) for simulating the vibration transmission system of the head 4 of the vehicle 1 to the seat 2 to the occupant 3 is set in advance. This vibration transfer model G (s) is a lumped parameter vibration transfer model (transfer function) composed of a spring, a mass, and a damper, and the rigidity (spring constant) k _{s of} the seat 2 and the damping coefficient C _s , The stiffness k _p and damping coefficient C _{p of the} occupant 3, and the stiffness k _v and damping coefficient C _v of the vehicle 1 are included as vibration parameters. And this vehicle / occupant motion estimation part 31 inputs the detection result by the vehicle motion detection apparatus 20 into this vibration transmission model G (s), thereby the head 4 of the occupant 3 seated on the seat 2. Estimate movement.

  Further, in this embodiment, the vehicle / occupant motion estimation unit 31 is configured to detect the motion of the vehicle 1 detected by the vehicle motion detection device 20 and the geometric positions of the installation positions of the vehicle motion detection device 20 and the display monitor 40. Based on the relationship, the movement of the screen 41 of the display monitor 40 accompanying the movement of the vehicle 1 is calculated. A vibration transmission model for simulating the vibration transmission system of the vehicle 1 to the display monitor 40 is set in the vehicle / occupant motion estimation unit 31 in advance, and the detection result by the vehicle motion detection device 20 is used as this vibration transmission model. By inputting, the motion of the screen 41 accompanying the motion of the vehicle 1 may be estimated.

  Furthermore, the vehicle / occupant motion estimation unit 31 generates the occupant 3 generated with the movement of the vehicle 1 based on the movement of the head 4 of the occupant 3 and the geometrical positional relationship between the center position of the head 4 and the eyeball. The movement of the eyeball (change in the position of the eyeball) is estimated. Next, the vehicle / occupant motion estimation unit 31 calculates a relative displacement amount of the screen 41 with respect to the eyeball of the occupant 3 accompanying the motion of the vehicle 1 based on the motion of the screen 41 and the motion of the eyeball of the occupant 3. The movement amount of the image in the screen 41 of the display monitor 40 that cancels out this relative displacement amount is calculated.

The seat / occupant parameter correction unit 32 changes the vibration parameters k _s and C _{s of} the seat 2 and the vibration parameters k _p and C _p of the occupant 3 according to the movement of the head 4 of the occupant 3 accompanying the movement of the vehicle 1. Thus, the vibration transmission model G (s) is corrected.

For example, the sheet 2 made of polyurethane foam exhibits nonlinear characteristics depending on the amplitude in response to vibration. Specifically, as shown in FIG. 4, as the amplitude decreases, the resonance frequency tends to increase and the resonance magnification tends to increase. Therefore, the seat / occupant parameter correction unit 32 of this embodiment includes an amplitude-rigidity table as shown in FIG. 5A and an amplitude-attenuation coefficient table as shown in FIG. 5B. In the amplitude-rigidity table shown in FIG. 5A, the rigidity k _{s of the} seat 2 is set to increase as the amplitude of the movement of the head 4 of the occupant 3 decreases. On the other hand, the amplitude shown in Figure 5B - In attenuation coefficient table, as the amplitude of the movement of the head 4 of the passenger 3 is reduced, the damping coefficient C _s of the seat 2 is set to be smaller. The seat / occupant parameter correction unit 32 refers to the table shown in FIGS. 5A and 5B, and the vibration parameter k of the seat 2 corresponding to the amplitude of the head 4 of the occupant 3 estimated by the vehicle / occupant motion estimation unit 31. _{s 1} and C _s are read, and the vibration transmission model G (s) of the vehicle / occupant motion estimation unit 31 is corrected.

The human body of the occupant 3 also exhibits a nonlinear response characteristic depending on the amplitude, like the seat 2. Therefore, the seat / occupant parameter correction unit 32 of this embodiment includes an amplitude-rigidity table shown in FIG. 6A and an amplitude-attenuation coefficient table shown in FIG. 6B. Amplitude shown in FIG. 6A - In rigid table, like the table shown in FIG. 5A, as the amplitude of the movement of the head 4 of the passenger 3 is reduced, is set as stiffness k _p of the passenger 3 is increased. On the other hand, the amplitude shown in FIG. 6B - The attenuation coefficient table, like the table shown in FIG. 5B, larger the amplitude of the movement of the head 4 of the passenger 3 is reduced, set as the damping coefficient C _p of the passenger 3 is reduced Has been. The seat / occupant parameter correction unit 32 refers to the table shown in FIGS. 6A and 6B, and the vibration parameter k of the occupant 3 corresponding to the amplitude of the head 4 of the occupant 3 estimated by the vehicle / occupant motion estimation unit 31. _p and _Cp are read, and the vibration transmission model G (s) of the vehicle / occupant motion estimation unit 31 is corrected.

  In addition, it replaces with the table shown to FIG. 5A and FIG. 6A, the table which shows the change of the rigidity with respect to the amplitude of the vibration system of the seat 2 ~ occupant 3 is used, or it replaces with FIG. 5B and FIG. You may use the table which shows the change of the damping coefficient with respect to the amplitude of a vibration system. Further, in order to eliminate the influence of nonlinear characteristics due to the temperature dependence of the seat and suspension, the parameters of the vibration transfer model G (s) may be changed according to information from a temperature sensor or the like.

ただし、f(x)は時刻xでの画面位置、Δtは計算の時間刻みである。 The control delay correction unit 33 corrects the control delay time caused by A / D conversion of signals and arithmetic processing. Specifically, first, a control delay time generated in the entire system of the in-vehicle display device 10A (the image displayed on the screen 41 by the image control device 30A after the vehicle motion detection device 20 detects the movement of the vehicle 1). Time required for control) is measured in advance. The control delay correction unit 33 estimates the image movement amount ahead of the delay time by using Taylor expansion based on the time series data of the image movement amount calculated by the vehicle / occupant motion estimation unit 31. Note that delay time is measured in advance, and it is assumed that the same vibration input continues when solving the differential equation of the vibration transfer model G (s), or the time series data of the vibration input is Taylor developed. By giving the input vibration ahead for the delay time to the differential equation, the movement of the head 4 ahead for the delay time may be estimated. When the control delay time is T, the screen position estimation formula based on the first-order Taylor expansion using the backward difference is as follows.

Here, f (x) is the screen position at time x, and Δt is the calculation time step.

  The image input unit 34 outputs data of an original image (including text) to be displayed on the screen 41 of the display monitor 40 to the display monitor 40 via the image control unit 35. The image control unit 35 shifts the image by the image movement amount calculated by the vehicle / occupant motion estimation unit 31 on the screen 41 of the display monitor 40.

  The display monitor 40 is composed of a liquid crystal display, for example, and is installed on the ceiling of the vehicle 1 as shown in FIG. In addition, the installation position of the display monitor 40 is not specifically limited, For example, you may install the display monitor 40 in the back surface of a driver's seat.

  The display monitor 40 displays the image input from the image input unit 34 on the screen 41, and this image moves within the screen 41 under the control of the image control unit 35. For example, when the screen 41 of the display monitor 40 is lowered with respect to the eyeball of the occupant 3 due to the nose dive phenomenon of the vehicle 1, the image is shifted upward in the screen 41. On the other hand, for example, when the screen 41 of the display monitor 40 rises with respect to the eyeball of the occupant 3 due to the squat phenomenon of the vehicle 1, the image is shifted downward in the screen 41. Thus, in this embodiment, since the image is always at a fixed position with respect to the eyeball of the occupant 3, the visual information obtained by the occupant 3 matches the information from the vestibular apparatus (semicircular canal and otolith), and the occupant 3 The feeling of strangeness that is felt is reduced.

  Hereinafter, the operation of the in-vehicle display device 10A in the present embodiment will be described with reference to the flowchart shown in FIG. FIG. 7 is a flowchart showing the operation of the in-vehicle display device 10A in the present embodiment.

  First, in step S101, the image control device 30A determines whether the screen power of the display monitor 40 is on. If the screen power of display monitor 40 is on (YES in step S101), the process proceeds to step 102. On the other hand, when the screen power of display monitor 40 is off (NO in step S101), the process of step S101 is repeated.

Next, in step S102, vibration parameters k _s , C _s , k _p , C _p of the seat 2 and the occupant 3 are added to the vibration transmission model G (s) of the vehicle / occupant motion estimation unit 31 as shown in FIGS. The initial values k _s0 , C _s0 , k _p0 , and C _{p0 shown} in FIG.

  Next, in step S103, the acceleration sensor 21 and the angular velocity sensor 22 of the vehicle motion detection device 20 move the vehicle 1 (translational motion along the longitudinal and lateral directions of the vehicle 1 and rotation along the pitch and roll direction of the vehicle 1). Measure movement).

  Next, in step S104, the vehicle / occupant motion estimation unit 31 inputs the movement of the vehicle 1 measured in step S103 to the vibration transmission model G (s), so that the head of the occupant 3 generated along with the movement of the vehicle 1 is obtained. The movement of the center of the unit 4 is estimated. Next, in step S105, the vehicle / occupant motion estimation unit 31 calculates the rms value (effective value) of the amplitude in the movement of the head 4 from the time-series data over the predetermined time of the movement of the head 4 estimated in step S104. Is calculated.

Next, in step S106, the seat / occupant parameter correction unit 32 refers to the tables shown in FIGS. 5A to 6B, and the vibration parameters k _s1 , C _s1 , k _{p1 of} the seat 2 and the occupant 3 corresponding to the rms values. , C _p1 are read out.

Next, in step S107, the initial vibration parameters k _s0 , C _s0 , k _p0 , and C _p0 of the vibration transmission model G (s) of the vehicle / occupant motion estimation unit 31 are used as the vibration parameters k _s1 , The vibration transfer model G (s) is reviewed by changing to C _s1 , k _p1 , and C _p1 , respectively. The revised vibration transmission model G (s) is used in the next cycle (step S104 after returning from step S115 to step S103).

  Next, in step S108, the vehicle / occupant motion estimation unit 31 determines the vehicle 1 from the movement of the vehicle 1 measured in step S103 and the geometric positional relationship between the installation positions of the vehicle motion detection device 20 and the display monitor 40. The movement of the screen 41 of the display monitor 40 accompanying the movement of is calculated.

  Next, in step S109, the vehicle / occupant motion estimation unit 31 determines the movement of the center of the head 4 of the occupant 3 estimated in step S104 and the geometric positional relationship between the center position of the head 4 and the eyeball. Based on the movement of the vehicle 1, the movement of the eyeball of the passenger 3 is calculated.

  Next, in step S110, the vehicle / occupant motion estimation unit 31 displays the screen for the eyeball of the occupant 3 based on the movement of the screen 41 calculated in step S108 and the movement of the eyeball of the occupant 3 calculated in step S109. 41 is calculated.

  Next, in step S111, the vehicle / occupant motion estimation unit 31 calculates an image movement amount that cancels the relative displacement amount calculated in step S111. In step S112, the control delay correction unit 33 corrects the time delay for the image movement amount calculated in step S111.

  Next, in step S113, the image control unit 35 processes the image data so that the image input from the image input unit 34 is moved on the screen 41 by the amount of image movement. In step S114, the display monitor 40 The processed image is displayed on the screen 41. As a result, the image displayed in the screen 41 of the display monitor 40 is shifted so that the image is always at a fixed position with respect to the eyeball of the occupant 3.

  Until the screen power supply of display monitor 40 is turned off (YES in step S115), the processing from step S103 to step S114 is repeated (NO in step S115). During this repeated cycle, the vehicle / occupant motion estimation unit The vibration transmission model G (s) of 31 is corrected by the seat / occupant parameter correction unit 32 as needed. Therefore, the influence of the vibration system having strong nonlinear characteristics such as the seat 2 and the human body of the occupant 3 can be suppressed, and the phase difference generated between the movement of the screen 41 and the movement of the occupant 3 can be suppressed. Images can be provided.

  Further, even if the control time delay is the same, the phase difference increases as the vibration frequency increases. However, in this embodiment, the control delay time is corrected by the control delay correction unit 33. The phase difference generated between the movement of the vehicle and the movement of the vehicle can be suppressed, and a stable image can be provided to the occupant 3.

Second Embodiment
FIG. 8 is a block diagram showing the overall configuration of the in-vehicle display device according to the present embodiment, FIG. 9 is a schematic cross-sectional view showing the interior of the vehicle according to the present embodiment, and FIGS. 10A and 10B are graphs showing tables included in the vehicle parameter correction unit. It is.

  As shown in FIG. 8, this embodiment is different from the first embodiment in that it includes an occupant position / loading amount detection device 25 and a vehicle parameter correction unit 36, but other configurations are the same as those in the first embodiment. In the following, only the differences of the second embodiment from the first embodiment will be described, and the same reference numerals will be given to portions having the same configuration as the first embodiment, and the description thereof will be omitted.

  The occupant position / loading amount detection device 25 includes a seating sensor 26 built in each seat 2 and a stroke sensor 27 installed on suspensions of both front and rear wheels. As shown in FIG. 9, the seating sensor 26 detects whether the occupant 3 is seated on the second row of seats 2a or the third row of seats 2b. The stroke sensor 27 measures the load amount of the load including the occupant and the luggage in the vehicle 1 based on the sinking amount of the suspension. Instead of the occupant position / loading amount detection device 25, the occupant position and the loading amount may be manually input via an input device such as a keyboard.

Similarly to the first embodiment, the image control device 30B includes a vehicle / occupant motion estimation unit 31, a seat / occupant parameter correction unit 32, a control delay correction unit 33, an image input unit 34, and an image control unit 35. In addition, the present embodiment further includes a vehicle parameter correction unit 36 that corrects the vibration parameters k _v and C _v of the vehicle 1 in the vibration transmission model G (s). In this embodiment, the vehicle / occupant motion estimation unit 31 determines the movement of the head 4 of the occupant 3 and the head center position and the eyeball when estimating the movement of the eyeball of the occupant 3 (change in the position of the eyeball). In addition to the geometrical positional relationship, the seating position of the occupant 3 is also considered.

The vehicle parameter correction unit 36 modifies the vibration transmission model G (s) by changing the vibration parameters k _v and C _v of the vehicle 1 in accordance with the loading amount of the vehicle 1. Therefore, the vehicle parameter correction unit 36 includes a load amount-rigidity table as shown in FIG. 10A and a load amount-attenuation coefficient table as shown in FIG. 10B. Payload shown in FIG. 10A - a rigid table, as load of the vehicle 1 is reduced, the rigidity k _v of the vehicle 1 are set to increase. On the other hand, payload shown in FIG. 10B - a damping coefficient table, as the load of the vehicle 1 becomes small, the damping coefficient C _v of the vehicle 1 is set so as decrease. The vehicle parameter correction unit 36 reads the vibration parameters k _v and C _v of the vehicle 1 according to the loading amount of the vehicle 1 with reference to the tables shown in FIGS. 10A and 10B, and the vehicle / occupant motion estimation unit 31 has The vibration transmission model G (s) is corrected.

  Further, the vehicle parameter correction unit 36 changes the control gain K of the vibration transmission model G (s) of the vehicle / occupant motion estimation unit 31 according to the seating position of the occupant 3. Specifically, when the occupant 3 is seated near the display monitor 40 (when seated on the second row of seats 2a in FIG. 9), the top and bottom of the screen 41 associated with the pitch operation of the vehicle 1 is displayed. Since the movement becomes small, the control gain K is reduced, and the vertical movement of the head 4 of the occupant 3 is estimated to be small. On the other hand, when the occupant 3 is seated at a position away from the display monitor 40 (when seated on the third row of seats 2b in FIG. 9), the screen 41 is moved up and down along with the pitch motion of the vehicle 1. Therefore, the control gain K is increased to largely estimate the vertical movement of the head 4 of the occupant 3.

  Further, the vehicle parameter correction unit 36 takes into account the time difference of vibration input caused by the distance between the position of the screen 41 and the seating position of the occupant 3 according to the seating position of the occupant 3. Specifically, when the occupant 3 is seated near the display monitor 40 (when seated on the second row of seats 2a in FIG. 9), the time difference between vibration inputs is set small. On the other hand, when the occupant 3 is seated at a position away from the display monitor 40 (when seated on the third row of seats 2b in FIG. 9), the time difference of vibration input is set to be long. A specific method for calculating the time difference between vibration inputs will be described in detail in the third embodiment.

  Hereinafter, the operation of the in-vehicle display device 10B in the present embodiment will be described with reference to the flowchart shown in FIG. FIG. 11 is a flowchart showing the operation of the in-vehicle display device according to this embodiment.

  Note that steps S201 and S202 in FIG. 11 are the same as steps S101 and S102 in FIG. 7, and steps S205 to S217 in FIG. 11 are the same as steps S103 to S115 in FIG. 7, so only steps S203 and S204 are performed. Will be described below, and description of other steps will be omitted.

  In step S <b> 203 of FIG. 11, the occupant position / loading amount detection device 25 detects the sitting position of the occupant 3 by the seating sensor 26 and measures the loading amount of the vehicle 1 by the stroke sensor 27.

Next, in step S204 of FIG. 11, the vehicle parameter correction unit 36 refers to the tables shown in FIGS. 10A and 10B, and the vibration parameter k _{v of} the vehicle 1 corresponding to the loading amount of the vehicle 1 measured in step S203. It reads the _{C v.} Further, the vehicle parameter correction unit 36 changes the control gain K according to the seating position of the occupant 3 detected in step S203. Then, the vehicle parameter correction unit 36 uses the vibration parameters k _v and C _v corresponding to the loading amount and the control gain K corresponding to the seating position to the vibration transmission model G (s) included in the vehicle / occupant motion estimation unit 31. substitute. Thus, using the vibration transmission model G (s) in which the vibration parameters k _v and C _v and the control gain K of the vehicle 1 are reviewed, the motion of the head 4 of the occupant 3 is estimated in step S206 of FIG. The

In the present embodiment, the vibration parameter of the vehicle 1 is corrected in accordance with the loading amount of the vehicle 1, so that the estimation error of the movement of the head 4 of the occupant 3 can be reduced, and as a result, the movement of the screen 41 and the occupant 3 A stable image can be provided to the occupant 3 by suppressing the phase difference that occurs between the movement of the vehicle and the vehicle.
In this embodiment, k _v and C _v are used as the vibration parameters corresponding to the loading amount of the vehicle 1, but the vehicle mass M _v may be used as the vibration parameter.

  Further, in this embodiment, the control gain is corrected according to the seating position of the occupant 3, so that the estimation error of the movement of the head 4 of the occupant 3 can be reduced, and the image stable to the occupant 3 regardless of the seating position. Can be provided.

Further, in the present embodiment, the movement of the head 4 of the occupant 3 is estimated in consideration of the time difference of the vibration input due to the distance between the installation position of the display monitor 40 and the seating position of the occupant 3. The phase difference generated between the movement of 41 and the movement of the occupant 3 can be suppressed, and a stable image can be provided to the occupant 3.

  Further, in the present embodiment, as in the first embodiment, the vibration transmission model G (s) is corrected as needed by the seat / occupant parameter correction unit 32, and thus the nonlinear characteristics of the human body of the seat 2 and the occupant 3 are strong. The influence of the vibration system can be suppressed. Therefore, a stable image can be provided to the occupant 3 by suppressing the phase difference generated between the movement of the screen 41 and the occupant 3.

  Further, in the present embodiment, the control delay time is corrected by the control delay correction unit 33 as in the first embodiment, so that the phase difference generated between the movement of the screen 41 and the movement of the occupant 3 can be suppressed. And a stable image can be provided to the occupant 3.

<Third Embodiment>
When the occupant 3 views an image on the screen 41 installed in the front, if the control is performed by the vibration measured at the screen position, the time difference of the vibration input due to the displacement in the front-rear direction between the screen 41 and the occupant 3 occurs. Due to the pitch movement of the vehicle 1 excited by the above, a phase difference occurs between the movement of the screen 41 and the movement of the occupant 3. In the region where the vehicle speed is relatively high, the up and down bounce motion is dominant, so that it is difficult for the phase difference to occur. However, in the region where the vehicle speed is relatively low, the pitch motion is large, and thus the phase difference is likely to occur. Therefore, the in-vehicle display device 10C according to the present embodiment estimates the movement of the head 4 of the occupant 3 in consideration of the time difference of vibration input based on the distance between the screen 41 and the occupant when the vehicle speed is relatively low. To do.

  FIG. 12 is a block diagram showing the overall configuration of the vehicle display device in the present embodiment. The in-vehicle display device 10C according to the present embodiment includes a vehicle motion detection device 20, an image control device 30C, and a display monitor 40 as shown in FIG. Note that the configuration of the display monitor 40 is the same as that of the first embodiment, and a description thereof will be omitted.

  The vehicle motion detection device 20 includes a speed sensor 23 that measures the traveling speed of the vehicle 1 in addition to the acceleration sensor 21 and the angular velocity sensor 22.

  The image control device 30C is composed of a microcomputer such as a CPU, ROM, RAM, A / D converter, and interface. Functionally, as shown in FIG. 12, a vehicle motion estimation unit 37, an occupant motion estimation A unit 38, an image input unit 34, and an image control unit 35.

The vehicle motion estimation unit 37 calculates the floor vibration at the occupant position according to the vehicle speed of the vehicle 1. Specifically, when the vehicle speed V is equal to or higher than a predetermined value V ₀ , the measurement result of the vehicle motion detection device 20 is regarded as floor vibration at the occupant position. On the other hand, when the vehicle speed V is less than the predetermined value V ₀ , the floor vibration at the occupant position is estimated based on the measurement result of the vehicle motion detection device 20.

  Further, the vehicle motion estimation unit 37 is based on the movement of the vehicle 1 measured by the vehicle motion detection device 20 and the geometric positional relationship between the installation positions of the vehicle motion detection device 20 and the display monitor 40. The movement of the screen 41 of the display monitor 40 accompanying the movement of the vehicle 1 is calculated.

  In the occupant motion estimation unit 38, a vibration transmission model G (s) similar to that in the first embodiment is set in advance. The occupant motion estimation unit 38 inputs the floor vibration at the occupant position calculated by the vehicle motion estimation unit 37 to the vibration transmission model G (s), so that the occupant 3 sitting on the seat 2 Is estimated.

  The occupant motion estimation device 38 also detects the occupant 3's movement caused by the movement of the vehicle 1 based on the movement of the head 4 of the occupant 3 and the geometrical positional relationship between the center position of the head 4 and the eyeball. Estimate eyeball movement (change in eyeball position). Next, the occupant motion estimation device 38 displays the screen 41 for the eyeball of the occupant 3 associated with the motion of the vehicle 1 based on the motion of the eyeball of the occupant 3 and the motion of the screen 41 calculated by the vehicle motion estimation device 37. The relative displacement amount is calculated, and an image movement amount that cancels the relative displacement amount is calculated.

  Similar to the first embodiment, the image input unit 34 outputs data of an original image (including text) to be displayed on the screen 41 of the display monitor 40 to the display monitor 40 via the image control unit 35. Then, the image control unit 35 shifts the image by the image movement amount on the screen 41 of the display monitor 40.

  Hereinafter, the operation of the in-vehicle display device 10C in the present embodiment will be described with reference to the flowchart shown in FIG. FIG. 13 is a flowchart showing the operation of the in-vehicle display device 10C in the present embodiment, and FIG. 14 is a graph for explaining a frequency component (wheelbase order component) derived from a time difference between vibration inputs of the front and rear wheels of the vehicle.

  First, in step S301, the image control device 30C determines whether the screen power of the display monitor 40 is on. If the screen power of display monitor 40 is on (YES in step S301), the process proceeds to step S302. On the other hand, when the screen power of display monitor 40 is off (NO in step S301), the process of step S301 is repeated.

  Next, in step S302, the vehicle motion detection device 20 uses the acceleration sensor 21 and the angular velocity sensor 22 to move the vehicle 1 (translational motion along the longitudinal and lateral directions of the vehicle 1, and the pitch and roll direction of the vehicle 1). (Rotational motion) is measured, and the vehicle speed V is measured by the speed sensor 23.

  Next, in step S303, the vehicle motion estimation unit 37 calculates a time difference dT between the vibration input to the front wheel and the vibration input to the rear wheel of the vehicle 1 using the following equation (1).

dT = L / V (1) where, in the above formula (1), L is the wheelbase length of the vehicle 1 set in advance, and V is the vehicle speed measured in step S302.

If the speed of the vehicle 1 is not directly measured, the time difference dT can be calculated using the measurement result obtained by the acceleration sensor 21 in the following manner. Specifically, as shown in FIG. 14, power spectrum density (PSD: Power Spectral Density) data is obtained by frequency analysis of an acceleration waveform, and this power spectral density data is derived from the time difference between the vibration inputs of the front and rear wheels. Extract frequency components (wheelbase order components). Then, the time difference dT is calculated by using the following formula (2) using the frequency f _wb of the wheelbase order component. At this time, the vehicle speed V is calculated by the following equation (3). The time difference dT may be obtained by performing autocorrelation analysis on the acceleration time series data.

Returning to _{dT = 1 / f wb ... (} 2) Equation V = L / dT ... (3 ) diagram 13, in step S304, the vehicle speed V measured in step S302 it is determined whether or not less than the predetermined value _{V 0} .

In this step S304, if the vehicle speed V is judged to be a predetermined value greater than or equal _{to V 0 (V} ≧ V ₀₎ (NO at step S304), the vertical bounce motion is dominant in the motion of the vehicle 1 Therefore, in step S305, the vehicle motion estimation unit 37 regards the movement of the vehicle 1 measured in step S302 as floor vibration at the occupant position.

In contrast, in step S304, when the vehicle speed V is determined to be less than the predetermined value _{V 0 (V <V 0)} (YES at step S304), since the pitch motion increases in the motion of the vehicle 1 In step S306, the vehicle motion estimation unit 37 estimates floor vibration at the occupant position from the movement of the vehicle 1 measured in step S302.

  Specifically, the vehicle motion estimation unit 37 first inputs vibration between the measurement position of the movement of the vehicle 1 by the vehicle motion detection device 20 and the seating position of the occupant 3 using the following equation (4). The time difference is calculated.

dT ′ = dT × L _d / L (4) In the above equation (4), dT is the time difference between the vibration inputs of the front and rear wheels calculated in step S303, and L _d is a vehicle by the vehicle motion detection device 20. the distance between the measuring position and the seating position of the occupant 3 in 1 motion, L is wheelbase length of the vehicle 1.

Next, by inputting the time difference dT ′ calculated by the above equation (4) into the following equation (5), the vibration F at the seating position of the occupant 3 from the motion of the vehicle 1 measured by the vehicle motion detection device 20. Estimate _p (t).

F _p (t) = α × F _d (t) + β × F _d (t−dT ′) (5) where, in the above equation (5), F _d (t) is a vehicle by the vehicle motion detection device 20. The time-series vibration data at the measurement position of one motion, α and β are constants. Note that it is possible to estimate with higher accuracy by changing α and β according to the characteristics of the vehicle 1, the screen, and the difference in the occupant position.

In this embodiment, since the acceleration sensor 21 and the angular velocity sensor 22 are installed in the vicinity of the display monitor 40, vibration data at the installation position of the display monitor 40 is used as the installation position of the acceleration sensor 21 and the angular velocity sensor 22 (that is, This is approximated by vibration at the vehicle motion detection device 20 at the measurement position of the movement of the vehicle 1. The movement (vibration data) of the screen 41 that is actually calculated in step S308 described later may be used as F _d (t) in the above formula (5).

Next, in step S307, the occupant motion estimation unit 38 performs the motion of the vehicle 1 regarded as the vibration at the seating position of the occupant 3 in step S305, or the vibration F at the seating position of the occupant 3 estimated in step 305. _By inputting _p (t) to the vibration transmission model G (s), the movement of the center of the head 4 of the occupant 3 caused by the movement of the vehicle 1 is estimated.

  Next, in step S308, the vehicle motion estimation unit 37 determines the motion of the vehicle 1 from the motion of the vehicle 1 measured in step S302 and the geometric positional relationship of the installation positions of the vehicle motion detection device 20 and the display monitor 40. Accordingly, the movement of the screen 41 of the display monitor 40 is calculated.

  Next, in step S309, the occupant motion estimation unit 38 is based on the movement of the center of the head 4 of the occupant 3 estimated in step S307 and the geometric positional relationship between the center position of the head 4 and the eyeball. The movement of the eyeball of the occupant 3 accompanying the movement of the vehicle 1 is calculated.

  Next, in step S310, the occupant motion estimation unit 38 displays the screen 41 on the eyeball of the occupant 3 based on the movement of the image 41 calculated in step S308 and the movement of the eyeball of the occupant 3 calculated in step S309. The relative displacement is calculated. In step S311, the occupant motion estimation unit 38 calculates an image movement amount that cancels the relative displacement amount calculated in step S310.

  Next, in step S312, the image control unit 35 processes the image data so that the image input from the image input unit 34 is moved by the amount of image movement on the screen 41. In step S313, the display monitor 40 The processed image is displayed on the screen 41. As a result, the image displayed in the screen 41 of the display monitor 40 is shifted so as to be always at a fixed position with respect to the eyeball of the occupant 3.

  Until the screen power of display monitor 40 is turned off (YES in step S314), the processing from step S302 to step S313 is repeated (NO in step S314).

  As described above, in this embodiment, the movement of the head 4 of the occupant 3 is estimated in consideration of the time difference of vibration input caused by the distance between the installation position of the display monitor 40 and the seating position of the occupant 3. Therefore, the phase difference generated between the movement of the screen 41 and the movement of the occupant 3 can be suppressed, and a stable image can be provided to the occupant 3.

The vehicle motion detection device 20 of the first to third embodiments corresponds to an example of the vehicle motion detection means of the present invention, and the display monitor 40 of the first to third embodiments corresponds to an example of the display means of the present invention. To do. The vehicle / occupant motion estimation unit 31 of the first and second embodiments and the vehicle motion estimation unit 37 of the third embodiment correspond to an example of the screen motion estimation unit of the present invention. The vehicle / occupant motion estimation unit 31 of the first and second embodiments and the occupant motion estimation unit 38 of the third embodiment correspond to an example of the occupant motion estimation unit and the displacement calculation unit of the present invention. The image control unit 35 according to the third embodiment corresponds to an example of the display control unit of the present invention. The seat / occupant parameter correction unit 32 of the first and second embodiments and the vehicle parameter correction unit 36 of the second embodiment correspond to an example of the parameter correction unit of the present invention, and the control of the first and second embodiments. The delay correction unit 33 corresponds to an example of a control delay correction unit of the present invention.

  The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 1 ... Vehicle 2 ... Seat 3 ... Passenger 4 ... Head 10A-10C ... In-vehicle display device 20 ... Vehicle motion detection device 21 ... Acceleration sensor 22 ... Angular velocity sensor 23 ... Speed sensor 25 ... Passenger position / loading amount detection device 26 ... Seating Sensor 27 ... Stroke sensors 30A to 30C ... Image control device 31 ... Vehicle / occupant motion estimation unit 32 ... Seat / occupant parameter correction unit 33 ... Control delay correction unit 34 ... Image input unit 35 ... Image control unit 36 ... Vehicle parameter correction unit 37 ... Vehicle motion estimation unit 38 ... Crew motion estimation unit 40 ... Display monitor 41 ... Screen

Claims (9)

Vehicle motion detection means for detecting the movement of the vehicle;
Display means for displaying images on the screen;
Screen motion estimation means for estimating the movement of the screen accompanying the movement of the vehicle based on the movement of the vehicle detected by the vehicle motion detection means;
When the vehicle movement detected by the vehicle movement detection means is input to a vibration transmission model including at least the vibration parameter of the occupant, the movement of the occupant is estimated and the movement of the occupant takes a predetermined time. Occupant motion estimation means for calculating the amplitude of the occupant motion from the series data ;
Displacement calculating means for calculating a relative displacement amount of the screen relative to the occupant based on the movement of the screen estimated by the screen movement estimating means and the movement of the occupant estimated by the occupant movement estimating means; ,
Display control means for moving the image displayed on the screen based on the relative displacement amount;
An in-vehicle display device comprising : parameter correction means for changing a vibration parameter of the occupant in the vibration transmission model based on an amplitude in the movement of the occupant calculated by the occupant motion estimation means. The in-vehicle display device according to claim 1 ,
Oscillation parameters of the occupant, at least viewed including stiffness and damping coefficient of the occupant,
The on-vehicle display device is characterized in that the parameter correction means is changed so as to increase the rigidity of the occupant and decrease the damping coefficient of the occupant as the amplitude in the movement of the occupant decreases . The in-vehicle display device according to claim 1 or 2 ,
The vibration transmission model has vibration parameters of a seat on which the occupant is seated,
The vehicle-mounted display device, wherein the parameter unit changes a vibration parameter of the seat in the vibration transmission model based on an amplitude in the movement of the occupant calculated by the occupant motion estimation unit. The in-vehicle display device according to claim 3 ,
Oscillation parameters of the sheet, seen including stiffness and damping coefficient of the sheet,
The on-vehicle display device characterized in that the parameter correction means is changed so as to increase the rigidity of the seat and reduce the damping coefficient of the seat as the amplitude in the movement of the occupant decreases . It is a vehicle-mounted display apparatus in any one of Claims 1-4 ,
The occupant motion estimation means estimates the motion generated in the occupant by inputting the vehicle motion detected by the vehicle motion detection means into a vibration transmission model including at least a vibration parameter of the vehicle,
The on-vehicle display device characterized in that the parameter correction means changes a vibration parameter of the vehicle in the vibration transmission model based on a load amount of the vehicle. The in-vehicle display device according to claim 5 ,
The vehicle-mounted display device, wherein the vehicle vibration parameter includes at least a rigidity and a damping coefficient of the vehicle. The in-vehicle display device according to claim 5 or 6 ,
The on-vehicle display device, wherein the parameter correction unit changes a control gain of the vibration transmission model based on a seating position of the occupant. Vehicle motion detection means for detecting the movement of the vehicle;
Display means for displaying images on the screen;
Screen motion estimation means for estimating the movement of the screen accompanying the movement of the vehicle based on the movement of the vehicle detected by the vehicle motion detection means;
Based on the vehicle speed detected by the vehicle motion detection means based on the vehicle speed, the installation position of the vehicle motion detection means, and the seating position of the occupant, the vehicle at the seating position of the occupant Vehicle motion estimation means for estimating motion ;
Occupant movement estimation means for estimating movement of the occupant accompanying the movement of the vehicle based on the movement of the vehicle at the sitting position of the occupant estimated by the vehicle movement estimation means;
Displacement calculating means for calculating a relative displacement amount of the screen relative to the occupant based on the movement of the screen estimated by the screen movement estimating means and the movement of the occupant estimated by the occupant movement estimating means; ,
A vehicle-mounted display device comprising: display control means for moving the image displayed on the screen based on the relative displacement amount . It is a vehicle-mounted display apparatus in any one of Claims 1-8 ,
Control delay correction means for correcting the relative displacement amount so as to cancel a control delay time generated between detection of the movement of the vehicle by the vehicle motion detection means and image control by the display control means. An in-vehicle display device characterized by that.

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