JP5470182B2 - Dangerous scene reproduction device for vehicles - Google Patents

Description

  The present invention relates to a vehicular dangerous scene reproduction device that is installed in a vehicle and reproduces a dangerous scene such as a pedestrian jumping out or a sudden deceleration of a preceding vehicle while the vehicle is running.

  Obtaining and analyzing the behavior of the driver when encountering a dangerous scene while driving a vehicle is an important and effective technique for elucidating the cause of a traffic accident.

  Therefore, in recent years, a driving simulator is often used as a method for reproducing a dangerous scene while the vehicle is traveling (Patent Document 1).

JP 2010-134101 A

  However, since the driving simulator disclosed in Patent Document 1 travels in a virtually created road environment, some drivers may be aware that it is not real. In addition, due to such lack of reality, there is a problem that the driving simulator may not be able to correctly evaluate the behavior of the driver when encountering a dangerous scene.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a vehicular dangerous scene reproduction device that can reproduce a dangerous scene for a driver with a high sense of reality while the vehicle is traveling.

  The vehicular danger scene reproduction device according to the present invention displays an image of a vehicle traveling direction superimposed on a still image or a moving image constituting a danger scene on a video display unit placed at a position that obstructs the driver's direct view. Since it is configured to display, it is possible to reproduce a dangerous scene for the driver with a high sense of reality while the vehicle is traveling.

  That is, the vehicular dangerous scene reproduction device according to the present invention is installed in the traveling direction of a vehicle that can actually run, and an image capturing unit that captures an image of the traveling direction of the vehicle, and an image of the traveling direction of the vehicle A superimpose timing generation unit that generates a timing for superimposing a still image or a moving image created in advance, a superimpose information storage unit that stores the still image or the moving image in advance, The still image or the moving image stored in the superimpose information storage unit is superimposed in a substantially real-time manner at a predetermined position of the video in the traveling direction of the vehicle at the timing generated by the superimpose timing generation unit. A superimpose execution unit for generating a superimpose image, and a direct view of the driver of the vehicle. Is, the superimposed image to a video display unit for displaying substantially real time, comprising: a.

  According to the vehicular danger scene reproduction device according to the present invention configured as described above, the video imaging unit captures a video in front of the traveling vehicle, and the superimpose timing generation unit generates the superimpose. An execution part superimposes the still image and moving image which were memorize | stored in the superimposition information storage part at the predetermined position of the image | video ahead of a vehicle. The superimpose image generated in this way is displayed on the image display unit placed at a position that obstructs the driver's direct field of view, and a dangerous scene is presented to the driving driver. It is possible to reproduce the dangerous scene for the driver with a high sense of reality.

  According to the vehicular danger scene reproduction device according to the present invention, the vehicle display direction in which the still image or the moving image constituting the danger scene is superimposed on the video display unit placed at a position that obstructs the driver's direct view is superimposed. Since the video is displayed, it is possible to reproduce a dangerous scene for the driver with a high sense of reality while the vehicle is traveling.

1 is a block diagram showing a schematic configuration of a vehicular dangerous scene reproduction device according to a first embodiment of the present invention. (1) It is a side view which shows the installation state to the vehicle of the dangerous scene reproduction device for vehicles which concerns on 1st Embodiment of this invention. (2) It is a top view which shows the installation state to the vehicle of the dangerous scene reproduction device for vehicles which concerns on 1st Embodiment of this invention. It is a figure which shows the operation | movement flowchart of 1st Example of this invention. It is a figure explaining the structure of the dangerous scene reproduced in 1st Example of this invention. It is a figure explaining the example of reproduction of the dangerous scene in 1st Example of this invention.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment of a vehicular dangerous scene reproduction device according to the present invention will be described with reference to the drawings.

  In this embodiment, the present invention is displayed on a video display unit placed at a position that obstructs the driver's direct field of view, by superimposing still images and moving images composing a dangerous scene on the front image in the traveling direction. Thus, the present invention is applied to a vehicular dangerous scene reproduction device that can reproduce a dangerous scene for a driver with a high sense of reality while the vehicle is traveling.

  FIG. 1 is a block diagram showing a configuration of a vehicular dangerous scene reproduction device 1 according to an embodiment of the present invention. FIG. 2 is a diagram illustrating an installation state of the vehicle dangerous scene reproduction device 1 on the vehicle 10.

  As shown in FIG. 1, a vehicular dangerous scene reproduction device 1 according to the present embodiment is installed in a vehicle 10 and a video photographing unit 100 that photographs a traveling direction, and a walking created in advance to reproduce a dangerous scene. Superimpose information storage unit 130 that stores image information representing risk factors such as a person or a preceding vehicle as a still image or a moving image, and superimpose information stored in superimpose information storage unit 130 A superimpose execution unit 120 that superimposes on the video imaged by the video shooting unit 100, a superimpose timing generation unit 140 that generates a timing at which the superimpose execution unit 120 starts superimposition, A video display unit 110 that displays the video superimposed on the pose execution unit 120, and vehicle information that records the behavior of the vehicle. A recording unit 150 consists of the driver information recording section 160. for recording the behavior of the driver.

  Note that the video image capturing unit 100 includes a first video image capturing unit 102 and a second video image capturing unit 104 in detail, and specifically includes two video cameras.

  In detail, the video display unit 110 includes a first video display unit 112 and a second video display unit 114, and specifically includes two rectangular liquid crystal monitors.

  In addition, the superimpose timing generation unit 140, in detail, a reference position detection unit 142 that detects that the vehicle 10 has passed a predetermined reference position set on the travel path, and that the vehicle 10 has passed the predetermined reference position. The trigger signal generation unit 144 generates and outputs a trigger signal that instructs the superimpose execution unit 120 to start superimposition.

  Specifically, the vehicle information recording unit 150 detects a vehicle speed sensor 152 that detects a vehicle speed, a steering angle sensor 153 that detects a steering angle, an accelerator opening sensor 154 that detects an accelerator opening, and a brake pedaling force. The brake pedal force sensor 155 and a vehicle information acquisition / recording unit 151 that acquires and records values detected by these sensors.

  The driver information recording unit 160 is more specifically configured to capture a driver's face photographing camera 162 that captures an image of the driver's face, and a driver's foot photographing camera that captures the driver's feet operating the accelerator and brake. 163, a driver gaze measuring device 164 that measures the driver's gaze direction, and a driver information acquisition / recording unit 161 that acquires and records data obtained by these cameras and measuring devices.

  Here, the first video photographing unit 102, the second video photographing unit 104, the first video display unit 112, and the second video display unit 114 are respectively installed on the hood of the vehicle 10 as shown in FIG. Yes.

  Specifically, the first video shooting unit 102 and the second video shooting unit 104 are installed on the hood of the vehicle 10 toward the road ahead. As shown in FIG. 2, the first video shooting unit 102 and the second video shooting unit 104 have a predetermined optical axis in the horizontal direction so that their shooting fields of view do not overlap. Arranged at an angle θ. In order to prevent the field of view from overlapping, the same area is used when displaying the images captured by the first image capturing unit 102 and the second image capturing unit 104 on the first image display unit 112 and the second image display unit 114. This is to prevent duplicates from being displayed.

  In addition, when it is difficult to arrange the first video shooting unit 102 and the second video shooting unit 104 so that the shooting visual fields do not overlap, the first video display unit 112 and the second video display unit While confirming at 114, the first video photographing unit 102 and the second video photographing unit 104 may be arranged so as not to cause a sense of incongruity.

  Alternatively, a plurality of images with overlapping fields of view are synthesized and image processing for generating a panoramic image is performed to generate an image having no overlap, and this is displayed as the first video display unit 112 and the second video display unit 114. May be displayed.

  The first video display unit 112 and the second video display unit 114 are arranged on the hood of the vehicle 10 on the short side (vertical side) of the first video display unit 112 and the short side (vertical side) of the second video display unit 114. Side) are substantially in contact with each other, and each image display surface is set to be substantially perpendicular to the ground.

  Furthermore, the video display surface of the second video display unit 114 is installed so as to face the driver who has watched the front while traveling, and the long side (horizontal side) of the first video display unit 112 and the second video display. The long side (horizontal side) of the portion 114 is installed so as to form a predetermined angle θ.

  It is the first video display that the long side (horizontal side) of the first video display unit 112 and the long side (horizontal side) of the second video display unit 114 are arranged at a predetermined angle θ in this way. The information displayed on the unit 112 and the second video display unit 114 are connected without interruption, and the information displayed on the video display unit 110 and the outside world information entering the driver's field of view from the outside of the frame of the video display unit 110 This is to make it look as connected as possible.

  Here, the angle θ formed by the long side of the first video display unit 112 and the long side of the second video display unit 114 is the angle θ formed by the optical axes of the first video shooting unit 102 and the second video shooting unit 104. It is desirable that they are approximately equal.

  However, when the installation space for the video display unit 110 is insufficient due to restrictions such as the space and shape of the hood of the vehicle 10, the long side of the first video display unit 112 and the long side of the second video display unit 114 In some cases, the angle θ between the two cannot be set to a predetermined value. In such a case, prior to the actual evaluation, while confirming the images displayed on the first image display unit 112 and the second image display unit 114, an appropriate angle is formed so as not to cause a sense of incongruity. The video display unit 112 and the second video display unit 114 may be disposed.

  The driver captures the images captured by the first image capturing unit 102 and the second image capturing unit 104 arranged in this manner and displayed on the first image display unit 112 and the second image display unit 114 in substantially real time. The vehicle 10 is actually run while watching.

  Next, the operation of the vehicular dangerous scene reproduction device 1 according to the present embodiment will be described based on the flowchart of FIG. 3 and FIG. The vehicular danger scene reproduction device 1 according to the present embodiment is an application of the present invention to an apparatus that reproduces a danger scene in which a pedestrian 92 jumps out from behind a stopped vehicle 20 shown in FIG.

  It is assumed that the vehicle 10 is traveling on a test course prepared in advance. This test course is restricted to other traffic flows, and can be used to reproduce dangerous scenes as described below.

  First, the first video capturing unit 102 and the second video capturing unit 104 simultaneously capture a video in front of the vehicle 10 (step S1 in FIG. 3, hereinafter, only the step number is described).

  Reproduction of the dangerous scene is performed at a predetermined point on the test course. In order to reliably reproduce the dangerous scene at a predetermined point, a reference position is set in front of the predetermined point, and when the vehicle 10 passes the reference position, the dangerous scene is triggered by this. Reproduce.

  The reference position detector 142 detects that the vehicle 10 has passed the reference position. Specifically, as shown in FIG. 4, the reference position detection unit 142 includes a columnar pile 90 with a reflective tape attached to the road shoulder of the test course, and a photoelectric sensor 91 attached to the tip of the vehicle 10. Consists of.

  Light is emitted from the photoelectric sensor 91 in a direction orthogonal to the vehicle 10 toward the left shoulder of the running test course. When the irradiated light hits the columnar stake 90 to which the reflective tape is attached, the reflected light returns in the direction of the photoelectric sensor 91 of the vehicle 10, and the reflected light is captured by the photoelectric sensor 91. Flows.

  On the other hand, if the reflected light of the irradiated light does not return, no current flows through the photoelectric sensor 91. In step S2, it is determined whether or not the vehicle 10 has passed the reference position by detecting this current value.

  If the reference position is not detected in step S2, the process proceeds to step S4, and the video imaged in step S1 is displayed on the first video display unit 112 and the second video display unit 114. Thereafter, the process returns to step S1, and the shooting of the image ahead of the road and the display of the shot image are continued.

  On the other hand, when the reference position detection unit 142 detects that a current has passed through the photoelectric sensor 91 in step S2, it is determined that the vehicle 10 has passed the reference position, and in step S3, the trigger signal generation unit 144 A trigger signal for starting superimpose is generated and output to the superimpose execution unit 120.

  In step S5, the superimpose execution unit 120 detects whether a trigger signal is input from the trigger signal generation unit 144 to the superimpose execution unit 120. If no trigger signal is input, the process proceeds to step S11, where the captured video is displayed on the first video display unit 112 and the second video display unit 114, a new video is input in step S12, and step S5. Return to.

  In step S5, when the superimpose execution unit 120 detects that the trigger signal is input from the trigger signal generation unit 144 to the superimpose execution unit 120, the first video shooting unit 102 and the second video shooting unit In step S6, a moving image simulating the jumping out of the pedestrian 92 stored in the superimpose information storage unit 130 is read out.

  Note that still images and moving images used for superimpose need to be created in advance.

  Specifically, after confirming safety in an actual road environment, a pedestrian 92 jumping out from behind a stopped vehicle is video-recorded. Image processing for extracting only the pedestrian area from the captured video image is performed, and a moving image in which only the extracted pedestrian 92 is shown at a predetermined position in the image filled with a specific color is generated. And stored in the superimpose information storage unit 130. Note that still images and moving images used for superimposition may be generated by computer graphics (CG).

  Here, the predetermined position in the image refers to a pedestrian in the captured image when the first image capturing unit 102 and the second image capturing unit 104 capture the front side of the road from the traveling vehicle 10. 92 is a position (coordinates) that actually jumps out and then moves. Before performing an evaluation using this apparatus, the moving image of the pedestrian 92 is superimposed on the actual video, and the pedestrian 92 appears to jump out from behind the stopped vehicle 20 when viewed from the driver. It is desirable to adjust the overlapping position.

  Depending on the information to be superimposed, a still image may be suitable, and in that case, a still image may be used.

  In addition, the superimpose information storage unit 130 identifies information to be superimposed on the video input from the first video shooting unit 102 and information to be superimposed on the video input from the second video shooting unit 104. Remember.

  Next, in the superimpose execution unit 120, the information read from the superimpose information storage unit 130 is superimposed on the video input from the first video shooting unit 102 and the video input from the second video shooting unit 104. (Step S8).

  This process is performed by combining the video input from the first video shooting unit 102, the video input from the second video shooting unit 104, and the coordinates of the still image or moving image read from the superimpose information storage unit 130, In the still image or the moving image read from the superimpose information storage unit 130, the pixel value stored in the pixel having a value other than the specific color is input from the first video shooting unit 102, This is executed by the operation of replacing the pixel value of the corresponding pixel in the video input from the two video shooting unit 104.

  Furthermore, the video on which the pedestrian 92 is superimposed is displayed on the first video display unit 112 and the second video display unit 114 (step S9). The driver of the vehicle 10 who sees this display recognizes that the pedestrian 92 has jumped out from behind the stopped vehicle 20, and immediately performs avoidance actions such as braking and steering.

  Next, the superimpose execution unit 120 determines whether or not all moving images stored in the superimpose information storage unit 130 have been superimposed (step S10). If there is, the process returns to step S6, and steps S6 to S9 are repeated.

  On the other hand, when all the moving images have been superimposed, the process ends.

  The driver of the vehicle 10 is instructed to run on the test course at a speed of about 30 km / h, and as shown in FIG. 4, the pile 90 is moved from the point where the pedestrian 92 actually jumps to D = 20 m. If it is installed in the foreground, when it travels while maintaining a speed of about 30 km / h, it reproduces a dangerous state in which the time until a collision occurs (Time To Collision) is 2.4 seconds. be able to. Of course, it goes without saying that this condition can be changed according to the actual evaluation condition.

  An example of the danger scene reproduced in this way is shown in FIG. FIG. 5 shows the direct field of view of the driver of the vehicle 10, and the first video display unit 112, the second video display unit 114 arranged in front, the stopped vehicle 20 reflected there, and the second video display. The state of the pedestrian 92 jumping out from the back of the stop vehicle 20 superimposed on the part 114 is represented.

  Although not shown in the flowchart of FIG. 3, when the dangerous state is reproduced, the vehicle information recording unit 150 sequentially acquires and records the vehicle speed, the steering angle, the accelerator opening, and the brake pedal force that represent the behavior of the vehicle. At the same time, the driver information recording unit 160 sequentially acquires and records the face image and foot image representing the driver's behavior and the measurement result of the driver's gaze direction. Note that the information to be recorded is not limited to the information described here, and an apparatus for acquiring predetermined information is appropriately mounted according to the evaluation contents, and the predetermined information is acquired and recorded.

  In addition, since the timing for reproducing the dangerous state is known in advance, recording of vehicle information and driver behavior may be started before the dangerous state is reproduced. This makes it possible to analyze in detail the changes in the behavior of the vehicle and the driver when a dangerous scene is encountered.

  As described above, according to the vehicular danger scene reproduction device 1 according to the first embodiment, a still image or a moving image that constitutes a danger scene is displayed on the video display unit placed at a position that obstructs the driver's direct view. Since the vehicle traveling direction image superimposed on the vehicle is displayed, a dangerous scene can be reproduced for the driver with a high sense of reality while the vehicle is traveling.

  As described below, various modifications having the same effect can be realized without changing the basic configuration of the present embodiment.

  First, the method for generating the timing for reproducing the dangerous scene in the superimpose timing generation unit 140 is not limited to the method using the photoelectric sensor described in this embodiment.

  That is, the start position of the superimpose for identifying the traveling position of the vehicle 10 using GPS (Global Positioning System) used in car navigation and reproducing the dangerous scene based on the identified position information. May be generated.

  Alternatively, information emitted from a radio beacon or an optical beacon transmitter installed on the road shoulder is received by a receiver installed in the vehicle 10, the current position of the vehicle 10 is specified, and based on the specified position information, You may generate the start timing of the superimpose for reproducing a dangerous scene.

  On the other hand, not only the position of the vehicle 10 but also the start timing of the superimpose for reproducing the dangerous scene may be generated based on the behavior of the driver and the behavior of the vehicle. At this time, sensors and measurement devices provided in the vehicle information recording unit 150 and the driver information recording unit 160 are used.

  For example, the driver's line-of-sight measuring device 164 continuously measures the driver's line-of-sight direction while traveling, and when the measured driver's line-of-sight is off the road ahead, the driver looks aside. If it is determined that the start timing of the superimpose to reproduce the dangerous scene is determined, the dangerous scene can be reproduced with the driver's aside as a trigger.

  Alternatively, when the vehicle speed detected by the vehicle speed sensor 152 is higher than a predetermined value, it is possible to set the start timing of the superimpose to reproduce the dangerous scene.

  Thus, it is possible to generate the start timing of the superimpose by an appropriate method according to the content to be evaluated and the danger scene to be reproduced.

  In addition, the timing to reproduce the dangerous scene is not only generated based on the reference position of the test course, or based on the specific state of the vehicle or driver, but also from time to time the vehicle or driver. It may be generated based on the behavior of

  For example, the output of the vehicle speed sensor 152 is read, the braking distance of the vehicle 10 is predicted from the read vehicle speed, and the distance to the stop vehicle 20 calculated from the own vehicle position captured by the GPS and the predicted braking distance If the comparison is made and the superimposition of the pedestrian 92 is started when the predicted braking distance is smaller, the dangerous scene due to the pedestrian 92 jumping out is limited to the vehicle speed of the vehicle 10. It will be possible to reproduce without. As a result, the evaluation conditions can be expanded.

  In addition to automatically generating the start timing of the superimpose, it is also possible to manually give the start timing of the superimpose.

  Next, the danger scene that can be reproduced by the present invention is not limited to the pedestrian jumping scene described in the embodiment.

  For example, by superimposing a moving image of a vehicle that has suddenly decelerated so that it overlaps the preceding vehicle that is actually traveling in front of the vehicle 10, it reproduces the danger scene as if the preceding vehicle had suddenly decelerated. You can also

  Alternatively, a dangerous scene in which another vehicle jumps out from the side at an intersection with a poor visibility in front of the traveling direction of the vehicle 10 can be reproduced with the same configuration as in the present embodiment. Thus, according to the present invention, an appropriate danger scene can be set and reproduced according to the contents to be evaluated.

  In addition, the specific component of this invention is not limited to what is shown in FIG. 1 if it has the same effect. For example, the video display unit 110 may be configured by a curved display, or a video may be projected on a screen by a projector.

DESCRIPTION OF SYMBOLS 10 Vehicle 100 Image | video imaging | photography part 110 Image | video display part 120 Superimpose execution part 130 Superimpose information storage part 140 Superimpose timing generation part 150 Vehicle information recording part 160 Driver information recording part

Claims (6)

A video shooting unit that is installed in the direction of travel of the vehicle that can actually run and shoots a video of the direction of travel of the vehicle;
A superimpose timing generator for generating a timing for superimposing a still image or a moving image created in advance on the video of the traveling direction of the vehicle;
A superimpose information storage unit for storing the still image or the moving image in advance;
The still image stored in the superimpose information storage unit or the moving image is superimposed in a substantially real-time manner at a predetermined position of the video in the traveling direction of the vehicle at the timing generated by the superimpose timing generation unit. A superimpose execution unit for generating a superimpose video,
An image display unit that is arranged so as to block the direct field of view of the driver of the vehicle, and displays the superimposed image in substantially real time;
A vehicular dangerous scene reproduction device characterized by comprising:   The video photographing unit is composed of a plurality of video cameras, and the optical axes of the respective video cameras form a predetermined angle in the horizontal direction, and the photographing fields of the plurality of video cameras are arranged so as not to overlap each other. The vehicular dangerous scene reproduction device according to claim 1.   The video display unit is composed of a plurality of rectangular displays, and is arranged on the hood of the vehicle so that the short sides of the adjacent displays are substantially in contact with each other. The vehicle according to claim 2, wherein the vehicles are arranged so as to be vertical, and are arranged so that long sides of the adjacent displays form a predetermined angle and face the driver of the vehicle. Dangerous scene reproduction device.   4. The vehicular dangerous scene reproduction apparatus according to claim 3, wherein an angle formed between the long sides of the adjacent displays is substantially equal to an angle formed by the optical axis of the video camera in the horizontal direction.   The superimpose timing generation unit is photographed by the video photographing unit with respect to the superimpose execution unit when detecting that the vehicle has passed a reference position provided on a traveling path of the vehicle. 5. The start of superimposition of the still image stored in the superimpose information storage unit or the moving image is instructed at a predetermined position of the video. 5. The vehicle dangerous scene reproduction device according to claim 1.   At least during the period when the superimpose video is displayed on the video display unit, a vehicle information recording unit that acquires and records vehicle information of the vehicle, and at least the video display unit displays the superimpose video. 6. The vehicle dangerous scene reproduction device according to claim 1, further comprising: a driver information recording unit that acquires and records the behavior of the driver of the vehicle during a period of time. .