JP5892309B2 - Gaze guidance device for vehicles - Google Patents

Description

  The present invention relates to a vehicular gaze guidance device, and more particularly to a vehicular gaze guidance device that guides an occupant's gaze to a predetermined information providing display.

  Patent Document 1 discloses a display method and a driving support device that display on the front window a display that prompts the driver to guide the line of sight or call attention. In this display method and driving support device, for example, a display for alerting the driver of the presence of an obstacle that can be seen over the front window is displayed on the front window, and the driver's line of sight is directed toward the obstacle. A display for guiding the line of sight from the awakening position is displayed, and further, such an obstacle is highlighted on the driver's line of sight and on the front window.

  Here, in recent years, navigation systems mounted on vehicles have become widespread, and information providing devices (information such as navigation using portable navigation devices or high-function mobile terminals that can be easily installed above the front window or on the dashboard) (Provided equipment) is known. On the display of these information providing devices, the situation around the vehicle that should be watched or should be watched (for example, the presence or absence of an intersection or a pedestrian crossing) can be displayed by a map, road sign symbol, character information, etc. It has been known.

JP 2003-291688 A

  However, in the display method and the driving support device described in Patent Document 1 described above, a display that guides the line of sight from the alerting position to the position of the obstacle is necessary. For the driver, the position of the obstacle is determined unless the guidance display is followed. There was a problem that it was difficult to understand. Further, since the gaze guidance display and the obstacle emphasis display such as the above-mentioned warning display are performed using a relatively entire front window, there is a problem that it is troublesome for the driver.

  The present invention has been made to solve the above-described problems, and effectively guides the driver's line of sight to the information providing apparatus without causing the driver to feel bothersome, so that the driver can An object of the present invention is to provide a gaze guidance device for a vehicle capable of effectively recognizing a situation.

In order to achieve the above object, the present invention is a vehicle gaze guidance device for guiding the sight line of an occupant to a predetermined information providing display, a gaze derivative for guiding the gaze direction of a driver, and the gaze derivative of the gaze derivative. Gaze derivative behavior control means for controlling the behavior, the information providing display is arranged in a predetermined direction with respect to the gaze derivative, and the gaze derivative behavior control means is provided with the predetermined information by the information providing display. When controlling the behavior of the gaze derivative so as to take a gaze guidance behavior that guides the driver's gaze to the information providing display, the predetermined information by the information providing display is located above or above the front window of the vehicle. are provided, and gaze derivative of the vehicle visual guidance system is positioned below or under the front window of the vehicle, It is characterized by a door.
In the present invention configured as described above, when predetermined information is provided by the information providing display, the line-of-sight derivative takes a line-of-sight guidance behavior that guides the driver's line of sight to the information providing display. Without letting the user feel the sensation, the user can effectively guide the line of sight to the information providing display that provides the predetermined information so that the driver can effectively recognize the situation in front of and around the vehicle.

In the present invention, it is preferable that the gaze derivative behavior control means controls the behavior of the gaze derivative so that the gaze derivative takes a normal behavior of continuous oscillation of a certain period when predetermined information is not provided by the information providing display. To do.
In the present invention configured as described above, when the predetermined information is not provided, the line-of-sight derivative oscillates at a constant cycle, so that the driver can feel something like an affinity or a sense of unity. The driver can be notified without trouble that the line-of-sight guidance device is operating normally.

In the present invention, preferably, the gaze derivative behavior control means controls the behavior of the gaze derivative so as to take a notice behavior in which the cycle varies as the place or time at which the predetermined information is provided approaches. In the present invention, the driver can recognize in advance that some information is provided by the notice behavior in which the period of the line-of-sight derivative fluctuates, so that the driver's line of sight can be more reliably determined by the subsequent line-of-sight guidance behavior. In addition, it is possible to guide to the information providing display at the timing when the information is provided.

In the present invention, preferably, the normal behavior of the line-of-sight derivative is an oscillation having a constant amplitude, and the line-of-sight derivative behavior control means changes its amplitude as the predetermined information is provided at a place or time approaching. The behavior of the gaze derivative is controlled so that the notice behavior is taken.
In the present invention configured as described above, the driver can recognize in advance that some information is provided by the notice behavior in which the amplitude of the line-of-sight derivative fluctuates. The line of sight can be more reliably guided to the information providing display at the timing when the information is provided.

In the present invention, preferably, the period and amplitude of the line-of-sight derivative are controlled so as to be smaller during the advance notice behavior than during the normal behavior.
In the present invention configured as described above, it can be recognized in advance that information is provided to the driver without making the driver feel more bothersome and troublesome.

In the present invention, preferably, it further has a head direction detecting means for detecting the head direction of the driver, and the gaze derivative behavior control means detects the driver when predetermined information is not provided by the information providing display. The behavior of the gaze derivative is controlled so that the behavior is synchronized with the head direction of the eye.
In the present invention configured as described above, the driver can feel something like a sense of affinity or unity with the line-of-sight derivative.

In the present invention, preferably, the line of sight derivatives behavior control means, when visual guidance behavior causes rotation countercurrent memorial gaze derivative in the direction of arrangement information display provided in a predetermined direction.
In the present invention configured as described above, it is possible to effectively guide the driver's line of sight to the information providing display that provides predetermined information.

In the present invention, preferably, the line of sight derivatives behavior control means, when not provided the predetermined information by the information providing display causes rotation in a direction different from the rotating direction at the time of visual guidance behavior gaze derivatives.
In the present invention configured as described above, the gaze derivative rotates in different directions depending on the gaze guidance behavior at the timing when the predetermined information is provided and when the predetermined information is not provided. Can be easily guided to the information providing display.

In the present invention, preferably, the line-of-sight derivative has an x-axis extending in the horizontal direction and a y-axis extending in the vertical direction, and the line-of-sight derivative behavior control means is information indicating that the line-of-sight derivative is arranged in a predetermined direction during the line-of-sight guidance behavior. The line-of-sight derivative is rotated around its x-axis and / or y-axis so as to face the direction of the providing display, and when predetermined information is not provided by the information-providing display, the line-of-sight derivative is swung with its y axis as the rocking axis.
In the present invention configured as described above, it is possible to effectively guide the driver's line of sight to the information providing display that provides predetermined information during the line of sight guidance.

In the present invention, preferably, it further has head direction detecting means for detecting the direction of the head of the driver, and the visual line derivative is a display image having a three-dimensional housing shape, and the visual line derivative behavior control means. When the predetermined information is not provided by the information providing display, the predetermined surface of the casing is directed in a direction that matches the detected direction of the head of the driver and swings in this state. At the time of behavior, control is performed so that a predetermined surface rotates in a direction toward the information providing display.
In the present invention configured as described above, when predetermined information is not provided, the driver can feel something like a sense of affinity and sense of unity. Since the surface facing the matching direction rotates toward the information providing display, the driver's line of sight can be effectively guided to the information providing display that provides predetermined information.

In the present invention, preferably, it further includes steering angle detection means for detecting the steering angle of the steering, and the visual line derivative behavior control means extends the visual line derivative in the vertical direction so as to be interlocked with the detected steering angle. Rotate around the axis.
In the present invention configured as described above, since the line-of-sight derivative behaves in conjunction with the behavior of the vehicle, a sense of unity with the vehicle can be given to the driver.

In the present invention, preferably, the gaze derivative behavior control means prohibits the gaze guidance behavior of the gaze derivative when the vehicle speed exceeds a predetermined value and the steering angle exceeds a predetermined value.
In the present invention configured as described above, the driver's driving concentration degree is suppressed by prohibiting the gaze guidance behavior of the gaze derivative in a situation where the gaze derivative is gazes at the situation such as when turning right or left. The decrease can be suppressed.

In the present invention, preferably, the line-of-sight derivative has an x-axis extending in the horizontal direction and a y-axis extending in the vertical direction, and a shape and / or pattern in which behavior around these x-axis and y-axis is visible to the driver. Is a display image or entity.
In the present invention configured as described above, the driver's line of sight can be effectively directed to the information providing display.

  According to the gaze guidance device for a vehicle according to the present invention, the driver's gaze is effectively guided to the information providing device without causing the driver to feel annoyance so that the driver can effectively recognize the situation around the vehicle. I can do it.

It is the schematic which shows arrangement | positioning of the gaze guidance apparatus for vehicles by embodiment of this invention with the front window and information provision apparatus of a vehicle. It is a block diagram which shows the system configuration | structure of the driving assistance information provision apparatus applied to embodiment of this invention. It is a block diagram which shows the system configuration | structure of the gaze guidance apparatus for vehicles by embodiment of this invention. It is a figure which shows the example of a display of the gaze derivative of the gaze guidance apparatus for vehicles in embodiment of this invention. It is a figure for demonstrating the basic operation | movement of the gaze derivative shown in FIG. 4 of the gaze guidance apparatus for vehicles in embodiment of this invention. It is a figure which shows the other example of the gaze derivative in embodiment of this invention. It is a flowchart which shows the control content of the gaze guidance apparatus for vehicles by embodiment of this invention. It is a diagram which shows the relationship between the amplitude (a) and rocking | fluctuation period (b) of rocking | fluctuation of the gaze derivative of the gaze guidance device for vehicles by embodiment of this invention, and the arrival time to an information provision object. It is a diagram which shows the relationship between the 1st correction coefficient of the rocking | swiveling amplitude of the gaze derivative of the gaze guidance device for vehicles by embodiment of this invention, and a steering angle. It is a diagram which shows the relationship between the center attitude | position angle of rocking | fluctuation of the gaze derivative of the gaze guidance device for vehicles by embodiment of this invention, a driver | operator's head direction (a), and a steering rudder angle (b). It is the schematic shown similarly to FIG. 1 for demonstrating the operation | movement at the time of the normal behavior of the gaze derivative of the gaze guidance device for vehicles by embodiment of this invention, and a notice behavior. It is the schematic shown similarly to FIG. 1 for demonstrating the operation | movement of the rocking | fluctuation behavior at the time of intersection driving | running | working of the gaze derivative of the gaze guidance apparatus for vehicles by embodiment of this invention. It is a flowchart which shows the control content of the attitude | position change return process shown in FIG. 7 of the gaze derivative of the gaze guidance device for vehicles by embodiment of this invention. It is the schematic shown similarly to FIG. 1 for demonstrating the operation | movement of the gaze guidance behavior in the information provision timing of the gaze derivative of the gaze guidance apparatus for vehicles by embodiment of this invention. It is a diagram which shows the relationship between the attitude | position of a gaze derivative | guide_body at the information provision timing in the gaze guidance device for vehicles by embodiment of this invention, and elapsed time. It is a diagram which shows the relationship between the position of the gaze derivative at the time of pushbutton operation in the gaze guidance device for vehicles by embodiment of this invention, and elapsed time.

Hereinafter, a gaze guidance device for a vehicle according to an embodiment of the present invention will be described with reference to the accompanying drawings.
First, with reference to FIG. 1, the arrangement of the vehicle gaze guidance device according to the embodiment of the present invention and the positional relationship with the information display device will be described. FIG. 1 is a schematic view showing an arrangement of a vehicle gaze guidance device according to an embodiment of the present invention, together with a vehicle front window and an information providing device.
First, as shown in FIG. 1, the vehicle visual guidance device 1 according to the embodiment of the present invention is disposed on the dashboard 4 at a position below the front window 2 and visible to the driver. A driving assistance information providing device 8 is disposed above the front window 2 on the side of the back mirror 6. In the present embodiment, the line-of-sight guidance device 1 for a vehicle is provided almost directly below the driving assistance information providing device 8.
The driving assistance information providing device 8 is a high-function mobile terminal having a so-called navigation function. This driving assistance information providing device 8 has an information providing display 10, and a map normally used for navigation is displayed on the information providing display 10, and predetermined information, for example, accidents frequently occur. Driver assistance information (obstacle warning information) that the driver should or should recognize, such as intersections, pedestrian crossings, and places where it is better to close windows where exhaust gas is dark, should be displayed in text, signs, etc. It has become.
Here, in the driving assistance information providing device 8, the driver can appropriately set the position such as above or below the front window 2. The driving assistance information providing device 8 is portable and can be easily provided in the vehicle, a portable navigation device, an information display device such as an in-vehicle navigation system provided in advance on an instrument panel or dashboard, A map or the like may be projected at a predetermined position on the front window 2 by a predetermined projection device.

Next, the system configuration of the driving assistance information providing apparatus will be described with reference to FIG. FIG. 2 is a block diagram showing a system configuration of the driving assistance information providing apparatus applied to the embodiment of the present invention.
As shown in FIG. 2, the driving assistance information providing device 8 includes a communication unit 12 that receives stored information on the network as driving assistance information from an external infrastructure, and the host vehicle travels from the received driving assistance information. And a storage unit 16 for storing information received by the communication unit 12 and information acquired by the point information acquisition unit 14.
The driving assistance information providing device 8 includes a vehicle surrounding image obtaining unit 20 that obtains a field of view of the surrounding environment of the vehicle as an image by a camera 18 built in the driving assistance information providing device 8, and the vehicle surrounding image obtaining unit. An obstacle detection unit 22 that detects an obstacle to be recognized by the driver, such as a pedestrian crossing and a construction sign, from the image acquired by the computer 20. The camera 18 may be a front imaging camera or the like that is mounted in advance in the vehicle.
The driving assistance information providing device 8 includes a driving assistance information control unit 24. The driving assistance information control unit 24 includes information stored in the storage unit 16 and the obstacle detected by the obstacle detection unit 22. A signal relating to an object is received, and the provision content and provision timing (display timing) of driving assistance information displayed on the information providing display 10 are controlled. The control unit 24 calculates the arrival time of the vehicle to the target obstacle (for example, the above-mentioned pedestrian crossing) based on the map information and the vehicle speed, and provides driving assistance information based on the calculated arrival time. Determine timing. The control unit 24 also controls the display of the map and the current location of the vehicle.

Next, a gaze guidance device for vehicles according to an embodiment of the present invention will be described.
First, with reference to FIGS. 3 to 6, the system configuration of the vehicle gaze guidance apparatus according to the present embodiment and an example of the gaze derivative will be described. FIG. 3 is a block diagram showing a system configuration of the vehicle gaze guidance apparatus according to the embodiment of the present invention, and FIG. 4 is a diagram showing a display example of a gaze derivative of the vehicle gaze guidance apparatus according to the embodiment of the present invention. FIG. 5 is a diagram for explaining the basic operation of the line-of-sight derivative shown in FIG. 4 of the vehicle line-of-sight guidance apparatus in the embodiment of the present invention, and FIG. 6 is another view line derivative in the embodiment of the present invention. It is a figure which shows the example of.
The vehicular line-of-sight guidance device 1 according to the present embodiment is a high-functional portable terminal that incorporates a line-of-sight guidance function, such as by downloading dedicated software.
As shown in FIG. 3, the line-of-sight guidance device 1 includes a basic behavior generation unit 32 that generates a basic behavior of a line-of-sight derivative 30 (see FIG. 4) described later. As will be described later, the basic behavior generation unit 32 swings around the y axis during the normal behavior and the warning behavior, while the gaze derivative 30 moves in the direction of the display 10 during the gaze guidance behavior. A basic behavior that swings around the x axis and the y axis is generated.
The line-of-sight guidance device 1 includes a driver head image acquisition unit 34 that acquires a head image of the driver, and a driver head behavior detection unit that detects the behavior of the driver's head from the acquired driver head image. 36. The driver head behavior detection unit 36 detects the left-right direction of the moving head mainly when the driver pays attention to the left-right direction when traveling straight or turning right or left. In the present embodiment, the driver head image acquisition unit 34 is a camera built in a high-function mobile terminal. A predetermined camera provided in advance in the vehicle may be used.

In addition, the line-of-sight guidance device 1 includes information acquisition means 38 that acquires signals related to the information provision content, arrival time, and provision timing of the driving assistance information from the driving assistance information control unit 24 of the driving assistance information providing device 8 described above. The information acquisition unit 38 receives a signal from the driving assistance information control unit 24 via wireless communication, cloud (computing), or the like.
The line-of-sight guidance device 1 also uses the line-of-sight derivative 30 based on the basic behavior generated by the basic behavior generation unit 32, the information acquired by the information acquisition unit 38, and the head behavior detected by the driver head behavior detection unit 36. A behavior adjusting unit 40 for adjusting (determining) the behavior of
Furthermore, in this embodiment, the behavior adjustment unit 40 includes steering angle detection means (not shown) that detects the steering angle of the steering wheel from a signal related to driving operation information from the vehicle control unit 39, and the behavior adjustment unit 40 is Based on the detected steering angle, the behavior of the line-of-sight derivative 30 is adjusted.

Furthermore, the line-of-sight guidance device 1 includes a behavior control unit 42 that controls the visual line derivative 30 having the behavior adjusted by the behavior adjustment unit 40 to be displayed on the display 1a of the high-functional portable terminal. In the present embodiment, as shown in FIG. 4, the line-of-sight derivative 30 is displayed on the display 1 a of the high-functional portable terminal (line-of-sight guidance device 1) attached to the front window 2.
Note that a system configuration as shown in FIG. 3 may be provided separately, and a high-function mobile terminal may be used as the display device for the visual line derivative 30. Further, a configuration in which a device that displays the line-of-sight derivative 30 on the front window 2 with a head-up display or the like may be provided on a dashboard or the like. Further, when the line-of-sight derivative is a line-of-sight derivative (see FIG. 6) as an entity according to another example to be described later, the entity includes a behavior control unit 42 or the like, and the entity operates in the same manner. It is controlled to do.

  As shown in FIG. 5, in this embodiment, the line-of-sight derivative 30 is a three-dimensionally displayed housing 30, and has a surface 30 a facing the passenger compartment side and a surface 30 b facing the front window 2 on the back side. . As shown in FIG. 5, the line-of-sight derivative 30 has an x axis extending in the lateral direction and a y axis extending in the vertical direction, and as shown by arrows A and B in FIG. 5, around the x axis and the y axis. Is displayed to swing. In the present embodiment, the x-axis of the line-of-sight derivative 30 extends in the horizontal direction with respect to the vehicle body of the vehicle, and the y-axis extends in the vertical direction with respect to the vehicle body of the vehicle.

  As shown in FIG. 6, as other examples of the line-of-sight derivative 30, a design imitating the appearance of an automobile (FIG. 6A), an amulet design (FIG. 6B), a character such as a smile mark, etc. An entity such as a spherical design having a pattern (FIG. 6C) may be provided instead of the display 1a. Alternatively, an image corresponding to those entities may be displayed on the display 1a. These designs are preferably such that the driver can easily see the swing around the x and y axes.

Here, the relative positional relationship between the line-of-sight guidance device 1 and the information display device 8 will be described.
As will be described later, the line-of-sight derivative 30 (or the line-of-sight derivative as an entity) displayed on the display 1a is controlled to face the display 10 side of the driving assistance information providing apparatus 8 when providing information. Here, the direction of the display 10 to which the line-of-sight derivative 30 should face is initially adjusted (teaching in the case of an entity) by a driver's screen input or the like. Further, for example, after arranging the displays 1a and 10, from the driver's seat side, a whole view of the front window 2 and the dashboard 6 is photographed so as to include the displays 1a and 10, and the initial position is based on the image data. May be stored in the behavior adjustment unit 40, or the relative position of the display 1a with respect to the display 10 may be recognized from the data of solid identification by RFID between the device 1 and the device 8. Alternatively, an omnidirectional antenna may be provided in each device 1 and 8 to recognize the relative position.
In addition, arrangement | positioning of the driving assistance information provision apparatus 8 (display 10) and the information gaze guidance apparatus 1 (display 1a) can be suitably arrange | positioned according to a driver's liking. That is, for example, the display 10 may be arranged on the side of the display 1a. On the other hand, there is a case where the display 10 cannot be moved, for example, provided in an instrument panel or the like. Also in these cases, the relative position is recognized by the above-described method (teaching, RFID, etc.), and the line-of-sight derivative 30 (or the line-of-sight derivative as an entity) is directed toward the display 10 when providing information. You can do that.

  Next, with reference to FIGS. 7 to 16, the control contents of the vehicle gaze guidance apparatus according to the embodiment of the present invention will be described. FIG. 7 is a flowchart showing the control contents of the vehicle gaze guidance apparatus according to the embodiment of the present invention, and FIG. 8 shows the amplitude (a) of the swing of the gaze derivative of the gaze guidance apparatus for the vehicle according to the embodiment of the present invention. FIG. 9 is a diagram showing the relationship between the period (b) of swinging and the arrival time to the information providing object, and FIG. FIG. 10 is a diagram showing a relationship between a first correction coefficient and a steering angle, and FIG. 10 is a central posture angle of a swing of a gaze derivative of a gaze guidance device for a vehicle according to an embodiment of the present invention and a head direction of a driver. FIG. 11 is a diagram illustrating a relationship between (a) and a steering angle (b), and FIG. 11 illustrates operations during a normal behavior and a warning behavior of a gaze derivative of a gaze guidance device for a vehicle according to an embodiment of the present invention. It is the schematic shown similarly to FIG. FIG. 12 is a schematic view similar to FIG. 1 for explaining the behavior of the swinging behavior of the line-of-sight derivative of the vehicle line-of-sight guidance device according to the embodiment of the present invention when traveling at the intersection, and FIG. FIG. 14 is a flowchart showing the control content of the posture change return process shown in FIG. 7 for the gaze derivative of the vehicle gaze guidance device according to the embodiment of the invention, and FIG. 14 shows the gaze derivative of the gaze guidance device for the vehicle according to the embodiment of the invention. FIG. 15 is a schematic diagram similar to FIG. 1 for explaining the operation of the gaze guidance behavior at the information provision timing, and FIG. 15 is a posture of the gaze derivative at the information provision timing in the vehicle gaze guidance device according to the embodiment of the present invention. FIG. 16 is a diagram showing the relationship between the sight derivative and the elapsed time, and FIG. 16 shows the position and elapsed time of the sight derivative when the push button is operated in the sight guidance apparatus for a vehicle according to the embodiment of the invention. Is a graph showing the relationship. 7 and 13, S indicates each step.

First, as shown in FIG. 7, in S <b> 1, from various information received from the control unit 24 of the driving assistance information providing device 8, an object of driving assistance information (an intersection or crossing where accidents frequently occur) from the current vehicle position. An arrival time ttc to a sidewalk or an obstacle such as a place where the exhaust gas is dark and it is better to close the window is detected.
Next, in S2, the steering angle of the steering is detected, and in S3, the left and right direction of the driver's head is detected from the behavior of the driver's head detected by the driver head behavior detector 36.
Next, in S4, based on the map as shown in FIG. 8A and the arrival time ttc detected in S1, the swing amplitude f _B around the y-axis (see FIG. 5) of the housing (line-of-sight derivative) 30 is obtained. (Ttc) is determined. Next, in S5, based on the map as shown in FIG. 8B and the arrival time ttc detected in S1, the swing period f _F (ttc) around the y-axis of the housing 30 is determined.
Here, in FIGS. 8A and 8B, T shown on the horizontal axis is information provision timing. That is, when the vehicle travels and the arrival time ttc to the target object is shortened and the time T is reached, driving assistance information related to the target object is displayed on the display 10. The information provision timing T is set, for example, when the arrival time is 3 seconds.
Here, as shown in FIGS. 8A and 8B, when the driving assistance information is not provided (when the arrival time ttc is longer than the time T), when the arrival time ttc is not less than the time t1, The oscillation amplitude f _B and the oscillation cycle f _F are both constant (normal behavior). When the arrival time ttc is shorter than the time t1, the oscillation amplitude f _B and the oscillation cycle f _F are both normal behavior. It fluctuates (notice behavior) so as to be smaller than a constant value of time and smaller as time T approaches. Here, the period in the normal behavior is relatively long, for example, when the head naturally moves left and right when the driver pays attention to the left and right direction when traveling on a straight road that does not require so much tension. It is a period.

Next, in S6, the correction coefficient C _B1 (θ) of the swing amplitude f _B determined in S4 is determined based on the map shown in FIG. 9 and the steering angle θ detected in S2.
Here, the swinging posture of the housing 30 is expressed by the following equation.
Case swinging posture = C _B1 × C _B2 × f _B × sin (2π / f _F × t) (1)
The second correction coefficient C _B2 is C _B2 = 1 in S6.
Here, as shown in FIG. 9, when the steering angle θ is small (mainly when traveling straight), the correction coefficient C _B1 = 1, and when the steering angle θ is equal to or larger than a predetermined value (for example, at the right of the intersection) At the time of a left turn), the correction coefficient C _B1 becomes smaller than 1 so that the swing amplitude of the housing 30 becomes smaller.

Next, in S7, based on the maps as shown in FIGS. 10 (a) and 10 (b), the steering angle θ detected in S2 and the head direction of the driver detected in S3, the shaking of the casing 30 is performed. The dynamic center posture φ ₀ is determined. In this S7, either the detected steering angle θ or the head direction of the driver, using the detected value with the larger absolute value of the angle, according to FIG. 10A or 10B. Then, the swing center posture φ ₀ is determined.
In the present embodiment, the housing 30 swings around its y axis, and φ ₀ is the center posture angle of the swing. When φ ₀ is 0, the housing surface 30b faces the front of the vehicle. That is, when φ ₀ is 0, it is assumed that the driver is facing the front, the x axis of the housing 30 extends in a direction perpendicular to the longitudinal direction of the vehicle body, and the y axis of the housing 30 is perpendicular to the vehicle body. Extending in the direction.
By this processing of S7, when the head is turned to the left by, for example, the driver paying attention to the direction of the left sidewalk when going straight, the normal of the surface 30b at the swing center is The swing center posture φ ₀ is synchronized so as to coincide with the direction of the head, and the swing center posture φ ₀ can be interlocked with the steering angle at the time of turning right or left at the intersection.

  Next, in S8, the housing 30 is controlled to swing with the behavior determined by the processes in S4 to S7. An example of the swing by S8 is shown in FIGS. As shown in FIG. 11, in the normal behavior (arrow C) and the warning behavior (arrow D), the housing 30 swings around its y axis with respect to the swing center. At this time, the y-axis of the casing 30 swings so as to extend in the vertical direction with respect to the vehicle body, and so that the x-axis extends in the horizontal direction with respect to the vehicle body and in a direction perpendicular to the head direction of the driver. Further, as shown in FIG. 12, when the vehicle turns left at the intersection, the housing 30 swings around the y axis in the left turn direction as indicated by an arrow E. In these examples, a normal navigation map is displayed on the display 10 of the driving assistance information providing device 8.

Next, in S9, based on the information acquired by the information acquisition means 38, it is determined whether or not the arrival time ttc detected in S1 is the information provision timing T (see FIG. 8).
In S9, when it is determined that the arrival time ttc has not reached the information provision timing T (ttc> T), the processes of S1 to S8 are repeatedly executed.

When it is determined in S9 that the arrival time ttc has reached the information provision timing T (ttc = T), the process proceeds to S10, where the steering angle detected in S2 exceeds the predetermined value and the vehicle speed exceeds the predetermined value. It is determined whether or not. These predetermined values are set, for example, to prohibit the change of the chassis posture described later when the driver is turning left or right at the intersection where the driver should concentrate more on driving. When the vehicle is stopped, it is set to execute a case posture change described later.
That is, as shown in FIG. 7, if it is determined in S10 that the steering angle exceeds the predetermined value and the vehicle speed exceeds the predetermined value, the processing of S11 to S13 is not executed, and otherwise The process proceeds to S11.

Next, in S11, the correction coefficient C _B2 of the swing amplitude f _B of the housing 30 is set to zero. This correction coefficient C _B2 is substituted into the above-described equation (1), and the swing of the housing 30 is first stopped.
Next, in S <b> 12, a process of changing the posture of swinging the housing 30 toward the display 10 to which information is provided and returning to the normal behavior are executed.

As shown in FIG. 13, in the case attitude change return process, first, in S <b> 20, a process of changing the attitude is performed so that the case 30 swings toward the information providing display 10. The process in S20 is repeatedly executed until it is determined in S21 that the posture of the housing 30 reaches the target value.
Here, an example of posture change is shown in FIG. In this embodiment, as shown in FIG. 14, the surface 30b on the window 2 side of the housing 30 is mainly swung around its x axis so that it faces the display 10 disposed above, Guide the driver's line of sight. Such swinging is performed, for example, by imitating a movement in which the direction of the head naturally faces upward when a human raises his / her line of sight. At this time, as shown in FIG. 14, a pedestrian crossing sign and characters are displayed as the driving assistance information 50 on the display 10 of the driving assistance information providing apparatus 8.
In the processing of S20 and S21, as shown in FIG. 15, the normal vector n 1 of the surface 30b is a target normal vector n ₁ (for example, FIG. 14 (direction as shown in FIG. 14). This transition time is 0.5 seconds in this embodiment.

Next, in S22 and S23, the posture at the normal vector n ₁ is maintained until a predetermined time elapses. Thus, the driver's line of sight is stopped on the display 10 which is the information providing location. This maintenance time is 0.5 seconds in this embodiment.
Next, in S24 and S25, the casing 30 is swung in a direction opposite to the swinging direction in S20 so that the casing 30 returns to the initial state (the state at time T). This return time is 0.5 seconds in this embodiment.
After these processes of S20 to S25, as shown in FIG. 7, the process proceeds to S13, and the correction coefficient C _B2 of the swing amplitude f _B of the housing 30 is set to 1 again. This correction coefficient C _B2 is substituted into the above-described equation (1), and the swing of the casing 30 stopped in S11 is restored.
Thereafter, until the arrival time ttc becomes 0, the housing 30 is controlled according to the maps of FIGS. 8 to 10 in the same manner as the processing of S1 to S7 (see FIG. 7).

Here, for example, when the driver presses a predetermined button such as a button (not shown) for enlarging the map screen, the case 30 swings during the processing of S1 to S13 (see FIG. 7). Even in such a case, the housing 30 responds to the operation and operates differently from the swinging as described above. In the present embodiment, as shown in FIG. 16, the housing 30 is lowered along the y-axis direction over a predetermined transition time (for example, 0.5 seconds) from the time tb when the button is pressed, and then returns to a predetermined level. It returns to the original swing state over time (for example, 1 second).
By interlocking with such button operations, the driver can confirm the normal operation of the device 1 and can stop the swinging operation of the housing 30 by the driver's intention.

  In the embodiment described above, the orientation of the driver's head is detected and controlled to synchronize the neutral position of the housing 30 with the orientation, but the image acquired by the driver head image acquisition means 34 is controlled. Alternatively, the line-of-sight direction of the driver may be detected, and the neutral position of the housing 30 may be controlled to be synchronized with the detected line-of-sight direction.

Next, functions and effects of the vehicle gaze guidance apparatus according to the embodiment of the present invention will be described.
First, in the present embodiment, the line-of-sight derivative 30 is provided at a timing T at which predetermined driving assistance information 50 is provided by the display 10 with respect to the information providing display 10 arranged in a predetermined direction with respect to the line-of-sight derivative 30. Takes a gaze guidance behavior that induces the driver's gaze, so that the driver can easily guide the gaze to the information providing display 10 without making the driver feel bothered, and let the driver know the situation in front of and around the vehicle. It can be recognized effectively.
Further, in the present embodiment, when the predetermined driving assistance information 50 is not provided, the line-of-sight derivative 30 oscillates at a constant cycle, so that the driver can feel something like an affinity or a sense of unity. Further, it is possible to tell the driver that the line-of-sight guidance device is operating normally without any trouble.

  Further, in the present embodiment, when the place or time T at which the predetermined driving assistance information 50 is provided approaches, the line-of-sight derivative 30 performs a warning behavior that has a period and amplitude that are smaller than those in the normal behavior. Therefore, it can be recognized in advance that some information is provided without causing the driver to feel bothered. Further, the driver's line of sight can be more reliably guided to the information providing display 10 during the subsequent line-of-sight guidance behavior. In addition, the notice behavior of the gaze derivative 30 can suppress the surprise that the driver is suddenly gaze-guided and give the driver a sense of information.

Further, in the present embodiment, when the predetermined driving assistance information 50 is not provided by the information providing display 10, the behavior of the line-of-sight derivative 30 is controlled so that the behavior is synchronized with the detected head direction of the driver. It is possible to make the driver feel a feeling of affinity or unity with the line-of-sight derivative 30.
Further, in the present embodiment, the line-of-sight derivative 30 is swung in the direction of the information providing display 10 during the line-of-sight guidance behavior, so that the driver's line of sight can be effectively guided to the information providing display 10.
In the present embodiment, the gaze derivative 30 swings in different directions depending on the gaze guidance behavior and the normal behavior or the warning behavior, so that it is possible to easily guide the driver's gaze to the information providing display. I can do it.

  Further, in the present embodiment, the line-of-sight derivative 30 has the shape of the three-dimensional housing 30, and the surface 30b (30a) of the normal behavior and the warning behavior is the direction of the detected driver's head. Oscillates around the direction that matches, so that the driver can feel something like a sense of affinity and unity. Furthermore, since the surface 30b swings in the direction toward the information providing display 10 during the line-of-sight guidance behavior, the driver's line of sight can be effectively guided to the information providing display 10.

In the present embodiment, the line-of-sight derivative 30 swings around the y-axis so as to be interlocked with the detected steering rudder angle. Can be given to the driver.
Further, in this embodiment, when the vehicle speed exceeds a predetermined value and the steering angle exceeds a predetermined value, the gaze guidance behavior of the gaze derivative is prohibited. In such a situation, it is possible to suppress a decrease in the driving concentration degree of the driver.
In the present embodiment, the line-of-sight derivative 30 is a display image (see FIG. 4) or entity (see FIG. 6) having a shape and / or pattern whose behavior around the x-axis and y-axis is visible to the driver. Therefore, such a line-of-sight derivative 30 can effectively direct the driver's line of sight toward the information providing display 10.

DESCRIPTION OF SYMBOLS 1 Gaze guidance apparatus for vehicles 2 Front window 8 Driving assistance information provision apparatus 10 Information provision display 30 Gaze derivative / housing | casing 30a, 30b Case surface 50 Driving assistance information AE Gaze derivative / housing rocking direction

Claims (13)

A vehicle gaze guidance device for guiding a passenger's gaze to a predetermined information providing display,
A line-of-sight derivative for guiding the line-of-sight direction of the driver;
Gaze derivative behavior control means for controlling the behavior of the gaze derivative,
The information providing display is disposed in a predetermined direction with respect to the line-of-sight derivative,
The line-of-sight derivative behavior control means controls the behavior of the line-of-sight derivative so as to take a line-of-sight guidance behavior that guides the driver's line of sight to the information providing display when predetermined information is provided by the information providing display ,
The predetermined information by the information providing display is provided so as to be located above or above the front window of the vehicle, and the line-of-sight derivative of the line-of-sight guidance device for vehicle is below or at the front of the vehicle front window. A line-of-sight guidance device for a vehicle , which is located at a lower portion .   The line-of-sight derivative behavior control means controls the behavior of the line-of-sight derivative so that when the predetermined information is not provided by the information providing display, the line-of-sight derivative takes a normal behavior of continuous oscillation with a predetermined constant period. The gaze guidance device for a vehicle according to claim 1.   3. The line-of-sight derivative behavior control means controls the behavior of the line-of-sight derivative so as to take a notice behavior in which the period varies as the place or time at which the predetermined information is provided approaches. Gaze guidance device for vehicles. The normal behavior of the line of sight derivative is rocking with a constant amplitude,
4. The line of sight for a vehicle according to claim 3, wherein the line of sight derivative behavior control means controls the behavior of the line of sight derivative so as to take a notice behavior in which the amplitude varies as the place or time at which the predetermined information is provided approaches. Guidance device.   The vehicular gaze guidance device according to claim 4, wherein the gaze derivative is controlled so that a period and an amplitude of the gaze derivative are smaller than those in the normal behavior during the warning behavior. Furthermore, it has a head direction detecting means for detecting the head direction of the driver,
The line-of-sight derivative behavior control means controls the behavior of the line-of-sight derivative so as to behave in synchronization with the detected head direction of the driver when the predetermined information is not provided by the information providing display. The line-of-sight guidance device for a vehicle according to any one of 5. The gaze derivative behavior control means, when the visual guidance behavior, wherein the gaze derivative to any one of claims 1 to 6 is rotated in direction memorial in the direction of the information providing display arranged to the predetermined direction Gaze guidance device for vehicles. The gaze derivative behavior control means, when the predetermined information is not provided by the information providing display, vehicle line of sight according to claim 7 is rotated in a direction different from the gaze derivative to the rotation direction at the time of the visual guidance behavior Guidance device. The line-of-sight derivative has an x-axis extending in the horizontal direction and a y-axis extending in the vertical direction,
The gaze derivative behavior control means, when the visual guidance behavior, the visual line derivative rotates around the x-axis and / or y-axis of the gaze derivative to face in the direction of the information providing display arranged to the predetermined direction 9. The line-of-sight guidance device for vehicles according to claim 1, wherein when the predetermined information is not provided by the information providing display, the line-of-sight derivative is swung with its y-axis as a rocking axis. Furthermore, it has a head direction detecting means for detecting the head direction of the driver,
The line-of-sight derivative is a display image having a three-dimensional housing shape,
When the predetermined information is not provided by the information providing display, the line-of-sight derivative behavior control means is configured such that the predetermined surface of the housing is directed in a direction that matches the detected head direction of the driver. with swings in the state, at the time of the visual guidance behavior, vehicle visual guidance according to any one of claims 1 to 9 above predetermined surface is controlled to rotate in a direction toward the information providing display apparatus. Furthermore, it has a steering angle detection means for detecting the steering angle of the steering,
The line-of-sight guidance for a vehicle according to any one of claims 1 to 10, wherein the line-of-sight derivative behavior control means rotates the line-of-sight derivative around the y-axis extending in the longitudinal direction so as to be interlocked with the detected steering angle. apparatus.   The line-of-sight guidance device for a vehicle according to claim 11, wherein the line-of-sight derivative behavior control means prohibits the line-of-sight guidance behavior of the line-of-sight derivative when the vehicle speed exceeds a predetermined value and the steering angle exceeds a predetermined value.   The line-of-sight derivative has an x-axis extending in the horizontal direction and a y-axis extending in the vertical direction, and a display image or entity having a shape and / or pattern in which behavior around these x-axis and y-axis is visible to the driver The line-of-sight guidance device for a vehicle according to any one of claims 1 to 12, which is an object.

Images