JP6105513B2 - Vehicle control device and in-vehicle image display device - Google Patents

Description

  The present invention relates to an in-vehicle image display device that displays an image on a window portion of a vehicle such as a bus, a taxi, or a private car.

  Conventionally, as a cause of accidents related to vehicles such as accidents between vehicles and accidents between vehicles and passers-by, for example, visibility deteriorates due to weather (rain, snow, etc.) or driving due to eye fatigue etc. The driver's visual acuity may temporarily decrease, causing the driver to miss or misunderstand passers-by around the vehicle, other vehicles, or obstacles. It is done. That is, the driver cannot accurately grasp the situation around the vehicle, and risk avoidance is delayed, leading to an accident. In other words, an accident can be prevented if the driver can accurately grasp the situation around the vehicle.

By the way, conventionally, an image display device capable of projecting an external situation or scenery on a window glass of a vehicle is known (for example, see Patent Document 1).
The image display device described in Patent Document 1 includes an observation device that observes the state (position, speed, etc.) of a vehicle, and an accumulation device that accumulates image information of an outside landscape in advance. Based on the information indicating the position of the vehicle observed by the above, the image information of the scenery that would be visible outside the vehicle at the observed position is acquired from the storage device, and the image represented by the image information is displayed on the window glass Let Note that map information such as place names, river names, and mountain names can be displayed. Further, based on the vehicle speed information, it is possible to sequentially switch images to be displayed in accordance with the speed. As described above, there is one that can display a landscape image around the vehicle on the window glass of the vehicle.

JP 2004-20223 A

  By the way, in the conventional image display device as described above, the landscape image stored in advance in the storage device is displayed on the window glass of the vehicle, and the current landscape image outside the vehicle can be displayed while traveling. Can not. And as mentioned above, when the visibility deteriorates due to the weather or when the driver's visual acuity temporarily decreases, the driver can not accurately grasp the surrounding situation, the driving risk, in other words, The probability that an accident will occur increases. Therefore, in order to prevent an accident, it is necessary to display an image around the vehicle while traveling in real time.

  The present invention has been made in view of these problems, and it is intended to enable a driver to drive a vehicle safely by accurately reproducing the situation around the vehicle with an image and displaying it on a window portion of the vehicle. Objective.

The present invention made to solve such a problem is a vehicle control device used in a vehicle ,
And the state detection means to detect the situation in the vicinity of the vehicle,
Based on the detection result of the situation detection means, what is the detection object of the detection object around the vehicle based on at least one of a plurality of elements including shape, material, volume, and color A prediction means for predicting
Image generating means for generating image data based on the detection result of the situation detecting means ;
Display control means for causing the display means to display an image represented by the image data generated by the image generation means ,
The predicting means predicts whether or not the detection object is a person;
The image generation means generates image data representing a warning if the detection object is predicted to be a person by the prediction means.
It is characterized by that.

In this vehicle control device , an image is generated by the image generation means based on the detection result of the situation detection means . Specifically, an image representing the situation around the vehicle may be generated. And, by the display control means, the image generating means image represented by the image data generated is displayed on the display means. In particular, the prediction means predicts what the detection target object is based on at least one of a plurality of elements including shape, material, volume, and color for the detection target object around the vehicle. The generation unit generates image data representing a warning if the prediction unit predicts that the detection target is a person. Thereby, when a detection target object is a person, the image showing a warning is displayed. That is, a warning is given to the driver.

According to this vehicle control device, when the detection target is a person, an image representing a warning is displayed on the own vehicle, so that the driver is in a situation where there is a person around the vehicle and should be careful. Can be easily recognized. Therefore, the driver can surely grasp the danger , and can surely prevent the accident from being delayed due to the danger avoidance being delayed. In this vehicle control device, the operation control means controls the operation of the host vehicle when the prediction means predicts that the detection target is a person. Specifically, the operation control means controls the steering angle of the host vehicle to adjust the traveling direction of the host vehicle, or controls the brake of the host vehicle to adjust the speed of the host vehicle. Thereby, collision avoidance or impact reduction can be achieved.

In another aspect of the present invention, the vehicle control means of the present invention may be understood as an in-vehicle image display device. For example, the display means transmits light from the inside and outside of the vehicle so that the scenery inside and outside the vehicle can be visually recognized across the display means, and from the inside and outside of the vehicle. The display control means is configured to be capable of switching to a display state in which light is blocked and an image is displayed by the display control means, and the display control means, after switching the display means state to the display state, It is preferable that an image represented by the image data generated by the image generation unit is displayed on the display unit.

In the image display device mounting car this means for displaying of a window portion of the vehicle is switched and the window conditions such as views of the opposite side can be visually recognized as a normal window, the display state in which an image is displayed .

Therefore, according to the image display device mounting car this, only when displaying an image around the vehicle, switching the display unit to display state and, when not displaying an image, the window conditions such as ordinary window It can be configured to switch. Therefore, it becomes easy to use for the driver or the passenger.

Also, in the image display device for mounting the car, the display means is conceivable that also provided in the window portion of the side and rear of the vehicle. And especially, when the state of Viewing means is switched in each window, preferably configured to allow switching the state of the display means and the display state and the window state.

According to the image display device mounting car this, it is possible to display information on all the windows of the vehicle. Therefore, since an image representing the situation around the vehicle can be displayed on all the windows of the vehicle, the driver can drive the vehicle more safely for the reasons described above. In addition, the display means of each window portion can be switched between a window state like a normal window and a display state in which an image is displayed. Therefore, for example, the state of the display means can be switched to the normal window state for each window so that the passenger can enjoy the real scenery, and the passenger's needs to enjoy the real scenery can be met.

Also, in the image display device for mounting the car, before Symbol display control means, based on the input of the occupant of the vehicle, it is preferable to switch the state of the display means and the display state and the window state.

According to the image display device mounting car this, the rider, since it is possible換Ru cut into and freely display state and the window state the state of the display means of the window of the vehicle, usability is good for passenger.

Also, in the image display apparatus for mounting vehicle, comprising vehicle speed, direction of travel, or the operating condition detecting means for detecting at least one of the braking state,
The display control means can be configured to switch the state of the display means between the window state and the display state based on the detection result of the operation state detection means.

According to the image display device mounting car this, without intended driver, in accordance with the driving state of the vehicle is switched states of the display means. For example, when the speed of the vehicle exceeds a certain speed, the state of the window display means is switched to the display state, and a surrounding image is displayed on the display means. . It is also conceivable that the window display means is switched to the normal window state when the vehicle stops.

  That is, for example, as described above, if the vehicle speed exceeds a certain speed, it may be difficult for the driver to grasp the surrounding situation. At that time, the surrounding image is displayed on the window, and the driver The situation can be grasped. Therefore, the driver can drive the vehicle more safely. Further, if the window state is switched to the normal window state when the vehicle stops, the passenger can fully enjoy the real scenery.

Also, in the image display device for mounting the car, before Symbol display control means, when the vehicle back, the image around the rear of the vehicle, it is preferable to display on the display means.

According to the image display device mounting car this, when the driver is back vehicle behind, since the rear image of the vehicle window is displayed, the driver can drive the vehicle more safely It becomes like this. In addition, as a window part which displays the image of the back of a vehicle, the front window part of a vehicle may be sufficient, and the rear window part may be sufficient. Further, it may be a side window. Moreover, you may make it display on all the window parts.

Also, in the image display device for mounting the car, based on the detection result of the previous SL condition detecting means it may preferably comprise a sound output means for outputting the sound around the vehicle.

According to the image display device mounting car this, since the sound in addition to the image of the surroundings of the vehicle is output by the sound output unit, is reproduced more realistically around the vehicle status, driver more accurately vehicle You will be able to grasp the situation around.

In the image display device mounting car, it is preferred that the pre-Symbol image generating means includes a storage means for storing image data generated.

According to the image display device mounting car this, since image data is stored in the storage means, also reads out the image data after the operation, it is possible to see an image that the image data represents. Therefore, it is convenient for passengers.

Also, in the image display device for mounting the car, before Symbol image generating means preferably generates the image data so that the periphery of passers or other vehicles of the vehicle is highlighted by the display means.

According to the vehicle mounting for an image display device of this, for the vehicle or the like around the passersby and the other vehicles, for its image to recognize them easily is the driver is generated, the driver its way Be alerted to people and other vehicles. That is, the driver's attention can be alerted.

Also, in the image display device for mounting the car, before Symbol display means can display information on both the inside and outside of the vehicle,
The display control means preferably displays an image different from the image represented by the image data generated by the image generation means on the outer surface of the display means.

According to the vehicle mounting for an image display device of this, it is possible to display an image on both sides of the display unit, for example the inner surface may display an image of the surroundings as described above, other vehicles on the outer surface Messages for drivers and passers-by can be displayed. By displaying messages in this way and communicating with the surroundings, it is possible to facilitate traffic. It is also conceivable that an advertisement is displayed on the outer surface.

Also, in the image display device for mounting car comprises a reading means for reading image data recorded on the record medium,
The display control unit is preferably configured to display an image represented by image data read from the recording medium by the reading unit on the display unit.

According to the image display device mounting car this, the image representing the image data recorded on the recording medium can also be displayed in the window, and be easy to use for the rider.

Also, in the image display device for mounting the car, based on the detection result of the previous SL condition detecting means, and determining the collision determining means for determining whether or not the vehicle is inevitable collisions with other vehicles,
When it is determined by the collision determination means that a collision with the other vehicle is unavoidable, among the stationary objects other than the other vehicle, a stationary object that can collide is based on the detection result of the situation detection means. Possibility determination means for determining whether or not there is,
Vehicle control means for controlling the vehicle to collide with the stationary object when it is determined by the possibility determining means that there is a stationary object capable of colliding;
It is preferable to provide.

And in particular, the vehicle control means, vehicles brakes, power source (e.g., an internal combustion engine or motor or the like) it is conceivable to control output, and the steering angle.
In such a car vehicle image display device provided for mounting, if in the case of a situation where a collision with other vehicles around is inevitable, a possibility of collision with other other vehicles The object is searched, and if there is such an object, the vehicle is controlled to collide with the object. That is, even if the vehicle collides with an object other than another vehicle, the collision with the other vehicle is avoided and the damage is suppressed. Therefore, according to this in-vehicle image display device, it is possible to minimize the damage of the collision.

It is an external view showing the external appearance of the vehicle provided with the vehicle-mounted image display apparatus. It is a block diagram showing the structure of the vehicle-mounted image display apparatus. It is a flowchart showing the flow of the process which CPU of a vehicle-mounted image display apparatus performs. It is a flowchart showing the flow of the process which the drawing processor of a vehicle-mounted image display apparatus performs. It is a flowchart showing the flow of the collision reduction process which CPU of a vehicle-mounted image display apparatus performs. It is a figure showing the state by which the image was displayed on the window part of the vehicle. It is a block diagram showing the structure of the vehicle-mounted image display apparatus of 2nd Embodiment. It is a figure showing the state by which the image was displayed on the window part of the vehicle (2nd Embodiment). It is a block diagram showing the structure of the vehicle-mounted image display apparatus of 3rd Embodiment.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[Embodiment 1]
FIG. 1 is an external view showing an external appearance of a vehicle 1 provided with an in-vehicle image display device 5 (see FIG. 2) of the present embodiment. As shown in FIG. 1, detection units 80 for detecting a situation around the vehicle 1 in the in-vehicle image display device 5 are provided at a plurality of locations outside the body of the vehicle 1. The detection unit 80 detects aspects of the surroundings of the vehicle 1, such as surrounding scenery, surrounding people, other vehicles (hereinafter also referred to as other vehicles), or obstacles. Although not shown in FIG. 1, an in-vehicle unit 90 (see FIG. 2) constituting the in-vehicle image display device 5 is provided inside the vehicle 1 separately from the detection unit 80. Then, based on the detection result of the detection unit 80, an image representing the situation around the vehicle 1 is generated by the in-vehicle unit 90.

  And especially in this embodiment, the display glass panel 40 which can display an image on the whole window part is provided in all the window parts of the vehicle 1. FIG. The display glass panel 40 functions as a liquid crystal display and is capable of displaying an image, and is in a transparent state like a normal window, and is in a state in which the scenery on the opposite side across the window can be visually recognized. It can be switched to the normal mode. Then, an image around the vehicle 1 generated by the in-vehicle unit 90 is displayed on the display glass panel 40. The image around the vehicle 1 is displayed on a surface corresponding to the inside of the vehicle 1 on the display glass panel 40 so that the image can be viewed from the inside of the vehicle 1. Moreover, in this embodiment, it is comprised so that an image can be displayed also on the surface corresponding to the outer side of the vehicle 1. FIG.

Next, FIG. 2 is a block diagram showing the configuration of the in-vehicle image display device 5.
As shown in FIG. 2, the in-vehicle image display device 5 of the present embodiment includes an input / output unit 95 including the detection unit 80, the in-vehicle unit 90, and the display glass panel 40 described above. Hereinafter, each component will be described in detail.

  First, the in-vehicle unit 90 is mounted inside the vehicle 1, and includes a CPU 30 that executes various processes, and a ROM 32 that stores a program (BIOS) and the like of a start process performed by the CPU 30 when the in-vehicle unit 90 is started. , A RAM 34 used as a storage area when the CPU 30 performs various processes, a hard disk (hereinafter referred to as HDD) 36 for storing information, and information recorded on a recording medium such as a CD-ROM / RAM, DVD-ROM / RAM, etc. Based on the reading device 37 to be read and data transmitted from the detection unit 80, a drawing processor 39 that generates image data representing the situation around the vehicle 1 and a frame in which the image data generated by the drawing processor 39 is stored are stored. Input / output interface for transmitting / receiving data to / from the memory 38 and the detection unit 80 (Hereinafter, I / O) 20, and I / O22 for sending and receiving data output section 95 includes a, they are connected to each other via a bus 50.

  Next, the detection unit 80 is composed of an infrared sensor 10, a millimeter wave radar 12, an ultrasonic sensor 14, and a microphone 18. In each of them, various data to be described later are detected every minute time Δt. .

  In the detection unit 80, the infrared sensor 10 detects infrared rays emitted from an object. Infrared rays are emitted from all objects. Then, by using this infrared sensor 10 to identify the range of the infrared radiation source, the approximate outline of the object can be obtained. It is also possible to infer the approximate shape, material, etc. of the target object from the intensity of the emitted infrared light (the intensity of the infrared light varies depending on the temperature of the target object or physical properties such as thermal conductivity). It is. And in this embodiment, the prediction process which predicts the raw material (for example, whether it is a metal) of a target object from the intensity | strength of infrared rays is performed by the microcomputer which does not comprise the infrared sensor 10 in figure. This prediction process is a process that has been conventionally performed in an infrared sensor, and a detailed description thereof will be omitted here. Data representing the prediction result, the range of the infrared radiation source detected by the infrared sensor 10, and the data representing the intensity of the infrared light are transmitted to the in-vehicle unit 90.

  The millimeter wave radar 12 uses a millimeter wave (a radio wave with a frequency of 30 to 300 GHz) to radiate the millimeter wave (here, referred to as a vehicle 1) and the object, the vehicle 1 and the object. The relative speed is detected. That is, while irradiating a millimeter wave, the distance from the object is detected from the time until the irradiation wave is reflected back to the object. Further, the relative speed with respect to the object is also detected by detecting the distance to the object at every predetermined time t (t <Δt). Then, data representing the distance to the object detected by the millimeter wave radar 12 and the relative speed are transmitted to the in-vehicle unit 90.

  The ultrasonic sensor 14 irradiates the surroundings with ultrasonic waves and measures the position, size, shape, and volume of the object from the reflected waves of the irradiated ultrasonic waves. In the present embodiment, the ultrasonic sensor 14 that can perform three-dimensional measurement is used. That is, the shape of the object can be expressed in three dimensions. Data representing the position, outer shape, shape, and volume of the object measured by the ultrasonic sensor 14 is transmitted to the in-vehicle unit 90.

  The microphone 18 detects sound around the vehicle 1. For example, the voice of a person, the cry of an animal, or the running sound of another vehicle. Data representing the detected sound is transmitted to the in-vehicle unit 90.

Each detection data detected by the detection unit 80 and transmitted to the in-vehicle unit 90 is received by the in-vehicle unit 90 via the I / O 20 and stored in the RAM 34. At this time, the CPU 30 instructs the drawing processor 39 to generate image data based on the detection data. Then, the drawing processor 39 reads the detection data from the RAM 34 and generates image data based on the detection data. An image represented by the image data is displayed on the display glass panel 40.

Next, the input / output unit 95 includes the display glass panel 40 described above, a speaker 42 that outputs sound, and an operation unit 44 for inputting information.
The speaker 42 is provided to output ambient sounds via the speaker 42 based on the data representing the sound detected by the microphone 18 among the detection data described above. In addition, you may utilize the speaker of the audio apparatus (not shown) normally provided in the vehicle 1. FIG.

  The operation unit 44 is operated by a passenger of the vehicle 1, and the passenger operates the operation unit 44 to change the mode of the display glass panel 40 to the display mode and the normal mode described above. Can be switched. This switching can be performed for each window.

  Next, the drawing command process repeatedly executed by the CPU 30 of the in-vehicle unit 90 will be described with reference to FIG. This process is a process executed to cause the drawing processor 39 to generate image data.

  In this drawing command process, first, in S310, it is determined whether or not detection data has been received from the detection unit 80. If it is determined that it has been received, the process proceeds to S320, and the received detection data is stored in the RAM 34. At this time, sound around the vehicle 1 is output from the speaker 42 based on sound data included in the detection data. Note that a sound emitted from the object represented by the detection data may be predicted so that the predicted sound is emitted from the speaker 42. For example, when another vehicle is detected, an engine sound or a horn sound predicted to be emitted from the other vehicle may be output from the speaker 42. In this case, sound data representing sounds such as engine sounds and horn sounds are stored in the ROM 32 and HDD 36 in advance, and when other vehicles are detected, the sound data representing those sounds are read from the ROM 32 or HDD 36. It is good to read.

Then, the process proceeds to S330, and a drawing command which is a command for generating image data is transmitted to the drawing processor 39. And it returns to S310 again.
Even if it is determined in S310 that the detection data has not been received, the determination process in S310 is repeated again.

Next, drawing processing repeatedly executed by the drawing processor 39 will be described with reference to FIG.
In this drawing process, first, in S410, it is determined whether a drawing command is received from the CPU 30 or not. As described above, the drawing command is a command for causing the drawing processor 39 to generate image data, and is transmitted from the CPU 30 in the process of S330 in FIG. If it is determined in S410 that the drawing command has not been received, the process of S410 is executed again.

  On the other hand, if it is determined in S410 that a drawing command has been received, the process proceeds to S420, and detection data is read from the RAM 34. This detection data is transmitted from the detection unit 80 and stored in the RAM 34 in the process of S320.

  In subsequent S430, image data around the vehicle 1 is generated based on the detection data read from the RAM 34 in S420. Here, a method for generating image data will be specifically described.

  First, as described above, the in-vehicle unit 90 is transmitted from the millimeter wave radar 12 with detection data representing the distance between the vehicle 1 and the object (or the position of the object) and the relative speed, and from the infrared sensor 10. Detection data representing the outer shape, shape, and material of the object is transmitted, and detection data representing the outer shape, shape, volume, and position of the object is transmitted from the ultrasonic sensor 14. These detection data are stored in the RAM 34.

  Then, the drawing processor 39 generates image data around the vehicle from the detection data stored in the RAM 34 as described above. Of the data constituting the image data, the drawing processor 39 determines the outer shape and shape of the object. About the data to represent, it produces | generates based on the detection data transmitted from both the infrared sensor 10 and the ultrasonic sensor 14. FIG. That is, the average of the data representing the outer shape or shape transmitted from the infrared sensor 10 and the data representing the outer shape or shape transmitted from the ultrasonic sensor 14 is taken, and the data obtained as a result is used as the data of the object. The outer shape or data representing the shape. Similarly, for the position data of the object, the average of the data representing the position transmitted from both the millimeter wave radar 12 and the ultrasonic sensor 14 is taken, and the resulting data is used as the position of the object. Data.

  By the way, when the detection accuracy of one sensor (in this case, the infrared sensor 10, the ultrasonic sensor 14, or the millimeter wave radar) is reduced due to disturbance such as the influence of the weather, the detection of the other sensor is performed. Adopt data. In addition, the probability that the detection accuracy of both sensors falls simultaneously is small. In other words, it is unlikely that the detection accuracy of both sensors will decrease simultaneously.

If there is at least data on the outer shape, shape, and position of the object generated in this way, the situation around the vehicle is represented based on the data.
In particular, in the present embodiment, the drawing processor 39 predicts what the object is based on the material and volume data of the object, in addition to the outline and shape data of the object. For example, it is predicted that the object is a person, a tree, or a vehicle. In the present embodiment, the ROM 32 has a plurality of types (or a plurality of types) of trees, people, vehicles, and the like representing the outer shape, shape, material, volume, color, etc. of objects such as trees, people, or vehicles. The drawing processor 39 compares the data of the object generated by itself with the data of the object stored in the ROM 32 in correspondence with the data elements. That is, the data generated by itself and the data stored in the ROM 32 are compared with respect to the data of the outer shape, shape, material, and volume. Then, as a result of the comparison, each of the generated data is close to which of the corresponding data stored in the ROM 32, that is, what kind of data of the generated object (person, tree, vehicle, or them) The type of Note that data representing an object such as a tree, a person, or a vehicle may be stored in the HDD 36 as a database.

  By predicting the target object in this way, it is possible to generate a colored image. For example, when it is concluded that the object represented by the generated data is a tree, color data is extracted from the data about the tree stored in the ROM 32, and the extracted color data is generated. By adding to the data of the target object, it is possible to display a color image of the target object.

  In the present embodiment, when the object is a moving object such as a person or a vehicle, the image of the object is highlighted on the display glass panel 40 so that the driver can easily recognize the color. It has come to give. Fluorescent colors and primary colors are conceivable as colors that are highlighted and easily recognized by the driver.

  In the present embodiment, based on data representing the relative speed detected by the millimeter wave radar 12, the outer shape (in other words, the size) and position of the target object after a predetermined time are detected in the present embodiment. It is also possible to generate prediction data. And when displaying the image of a target object on the display glass panel 40, the image of the target object based on the data of the prediction can also be displayed.

Thus, based on the detection data of the detection unit 80, what is called a computer graphic (CG) image is produced | generated about the condition around the vehicle 1. FIG.
In S430, the image data is generated as described above, and the image data is temporarily stored in the frame memory 38. Further, when the in-vehicle unit 90 is set to a predetermined setting state via the operation unit 44, image data is also stored in the HDD 36.

  If the HDD 36 is set to store image data, the passenger of the vehicle 1 can read the image data stored in the HDD 36 and view it later. That is, for example, by storing image data at the time of driving, it is possible to enjoy viewing the image at the time of driving later. In addition, if the surrounding image is stored when going to a destination where the travel route is complicated and easy to get lost, the travel route can be confirmed by reviewing the image later. And then you will be able to reach that destination smoothly from the next time.

  In the present embodiment, a reading device 37 that can read data recorded on a recording medium such as a CD-ROM / RAM, a DVD-ROM / RAM, or the like is provided. Then, the image data recorded on the recording medium is read by the reading device 37, and the image represented by the image data can be displayed on the display glass panel 40. For this reason, it becomes possible to display map information together with surrounding images on the display glass panel 40 using a recording medium in which map data is stored. Therefore, it is convenient for the driver. Further, the movie or live video can be displayed on the display glass panel 40 using a recording medium on which the movie or live video is recorded. Therefore, the passenger can enjoy movies and live images in the vehicle 1.

  By the way, in this embodiment, the state of the display glass panel 40 of the vehicle 1 can be switched between the display mode and the normal mode, and the switching mode is an automatic mode in which switching is performed automatically. And a manual mode in which switching is performed based on an input from the operation unit 44. Note that either the automatic mode or the manual mode can be set in advance via the operation unit 44.

  In S510 following S430, it is determined whether or not the switching mode is the automatic mode. If it is determined that the current mode is the automatic mode, the process proceeds to S520, where it is determined whether the vehicle 1 is traveling. Specifically, it is determined whether or not the speed of the vehicle 1 is not 0 based on a detection result detected by a speed sensor (not shown) provided in the vehicle 1.

  If it determines with the vehicle 1 driving | running | working in S520, it will transfer to S530 next and the display glass panel 40 will be set to display mode. In the present embodiment, the display glass panels 40 of all the windows of the vehicle 1 are set to the display mode.

In subsequent S540, the image represented by the image data generated in S430 is displayed on the display glass panel 40 (see FIG. 6). Although not shown, when the vehicle 1 is backing backward, an image behind the vehicle 1 is displayed on the front display glass panel 40. At this time, an image behind the vehicle 1 may be displayed on a window portion (display glass panel 40) behind the vehicle 1 or may be displayed on a side window portion. Or you may make it display on all the window parts.

On the other hand, if it determines with not drive | working in S520, it will transfer to S550 next and the display glass panel 40 will be set to normal mode. And it returns to S410 again.
If it is determined in S510 that the switching mode is not the automatic mode, that is, the manual mode, the process proceeds to S560, and whether or not there is a switching to the display mode based on the input of the operation unit 44. judge. If it is determined that there is a switch to the display mode, the process proceeds to S530 and the display glass panel 40 is set to the display mode.

On the other hand, if it is determined in S560 that there is no switching to the display mode, the process proceeds to S570, where it is determined whether or not there is switching to the normal mode.
If it is determined in S570 that there is a switch to the normal mode, then the process proceeds to S550 and the display glass panel 40 is set to the normal mode.

  On the other hand, if it is determined in S570 that there is no switching to the normal mode, the process proceeds to S580, where it is determined whether or not the current mode is the display mode. If it is determined that the display mode is set, the process proceeds to S540, and an image is displayed on the display glass panel 40.

On the other hand, if it is determined in S580 that the current mode is not the display mode, that is, the normal mode, the process returns to S410 again.
In this drawing process, the mode of the display glass panel 40 is set based on whether or not the vehicle is traveling (S520), that is, based on the speed of the vehicle. May be taken into account. For example, regarding the display glass panel 40 on the side surface of the vehicle 1, when the vehicle 1 is turning to the right, the display glass panel 40 on the right side is set to the display mode, and when the vehicle 1 is turning to the left The display glass panel 40 on the left side may be set to the display mode.

  As described above, the display glass panel 40 can display images on both sides thereof. In the present embodiment, on the outer surface of the display glass panel 40, for example, a message for informing the surroundings that a baby is riding on the vehicle 1, a thank-you message for giving a course, etc. Is displayed. Data representing this message or the like is stored in advance in the ROM 32, and when message information representing the type of message and an instruction to display the message are input by the passenger via the operation unit 44, the data is based on the message information. A message is displayed on the outer surface of the display glass panel 40. Note that the text of the message may be input via the operation unit 44.

  By displaying messages for drivers of other vehicles and the like in this way, communication can be achieved with each other, and traffic can be smoothed, so that an accident can be prevented. It is also conceivable that an advertisement or the like is displayed.

Next, FIG. 5 is a flowchart showing the flow of collision mitigation processing repeatedly executed by the CPU 30.
In this collision mitigation process, first, in S610, it is determined whether or not the state of the vehicle 1 is a state in which a collision with another vehicle cannot be avoided. Specifically, the speed and acceleration of the vehicle 1 detected by an in-vehicle sensor (for example, a speed sensor) (not shown) provided in the vehicle 1, the position and speed of another vehicle detected by the detection unit 80, or the vehicle 1. And further based on various performances such as braking performance and turning performance of the vehicle 1. Note that performance data representing the performance of the vehicle 1 is stored in the ROM 32 in advance.

If it is determined in S610 that a collision cannot be avoided, the process proceeds to S620. On the other hand, if it is determined that a collision can be avoided, the process is terminated as it is.
In S620, it is determined whether there is an object that can be collided in addition to other vehicles in a state where a collision is unavoidable. In the process of S620, a stationary object such as a guardrail is targeted as a colliding object.

If it is determined that there is a stationary object that can collide, the process proceeds to S630. On the other hand, if it is determined that there is no colliding stationary object, the process is terminated as it is.
In S630, the vehicle 1 is controlled to collide with a colliding stationary object. Specifically, the speed of the vehicle 1 is adjusted by controlling the brake and throttle opening (and hence the engine output) of the vehicle 1, and the traveling direction of the vehicle 1 is adjusted by controlling the steering angle. Then, the vehicle 1 is caused to collide with the stationary object. In other words, this collision mitigation process is a process executed to avoid collision between the vehicle 1 and other surrounding vehicles even when the vehicle 1 collides with another stationary object. And if the collision with the vehicle 1 and another vehicle is avoided by such a process, even if the vehicle 1 collides with a stationary object, the damage will be suppressed.

  In the present embodiment, the detection unit 80 corresponds to the situation detection means, the drawing processor 39 corresponds to the image generation means and the display control means, the display glass panel 40 corresponds to the display means, and the CPU 30 detects the operating state. The speaker 42 corresponds to the sound output means, the HDD 36 corresponds to the storage means, the reading device 37 corresponds to the reading means, the processing in S610 corresponds to the collision determination means, and the processing in S620 is possible. It corresponds to the determination means, and the process of S630 corresponds to the vehicle control means.

  As described above, in the in-vehicle image display device 5 of the present embodiment, the situation around the vehicle 1 is detected by the detection unit 80, and the vehicle 1 is detected by the drawing processor 39 of the in-vehicle unit 90 based on the detection result. Is generated (S430 in FIG. 4). Then, the image (computer graphic image) represented by the generated image data is displayed on the display glass panel 40 provided in the window portion of the vehicle 1 (see S540 in FIG. 4 and FIG. 6). Therefore, the driver of the vehicle 1 can easily and reliably grasp the situation around the vehicle 1 by looking at the image displayed on the display glass panel 40 of the window portion. It can be prevented that the situation around the vehicle 1 cannot be accurately grasped due to the deterioration or the own visual acuity is lowered, the danger avoidance is delayed, and an accident is caused.

  Moreover, in this embodiment, all the window parts of the vehicle 1 are comprised as the display glass panel 40. As shown in FIG. That is, surrounding images can be displayed on all windows of the vehicle 1. Therefore, the driver can grasp the surrounding situation more accurately, and can more reliably prevent an accident from occurring for the reason described above.

  Further, in the present embodiment, the state of the display glass panel 40 is switched between a display mode in which an image can be displayed and a normal mode that is a state like a normal window. This switching can be automatically performed according to the driving state of the vehicle 1 (automatic mode), or can be performed based on the operation of the passenger of the vehicle 1 (manual mode). . If the automatic mode is set, a surrounding image is displayed on the window portion of the vehicle 1 even if the driver does not intend, and the driver can surely understand the surrounding situation. In addition, if the manual mode is set, the passenger can freely enjoy the real scenery.

In the present embodiment, a speaker is provided in the vehicle 1, and sounds around the vehicle 1 detected by the microphone 18 of the detection unit 80 are output from the speaker 42. Therefore, since the situation around the vehicle 1 is reproduced more realistically, the driver can more accurately grasp the situation around the vehicle.
[Embodiment 2]
Next, the in-vehicle image display device 5 according to the second embodiment will be described with reference to FIGS.

  In the vehicle-mounted image display device 5 of the second embodiment, the display glass panel 40 of the window portion of the vehicle 1 is like a screen display mode that functions as a screen and a normal window, as compared with the first embodiment. It can be switched to the normal mode. In this screen display mode, light from the inside and outside of the vehicle 1 is blocked. That is, the display glass panel 40 becomes cloudy and functions as a screen. An image is projected on the display glass panel 40 in the screen display mode state by a projector 45 (see FIG. 7).

  In particular, in the second embodiment, in addition to the display glass panel 40 in the screen display mode, the inside of the A pillar 2 of the vehicle 1 (see FIGS. 1 and 2) is also displayed on the screen. As described above, when the surrounding image is displayed on the window portion of the vehicle 1 and the A pillar 2, it can be as if the blind spot from the inside of the vehicle 1 has disappeared (see FIG. 8). Therefore, since the driver can grasp the situation around the vehicle 1 more accurately, the occurrence of an accident can be prevented more reliably.

In the second embodiment, the projector 45 and the display glass panel 40 correspond to display means.
By the way, an image may be projected not only on the A pillar but also on the B pillar and the C pillar, that is, on all the pillars inside the vehicle 1. In the first embodiment, the same effect can be obtained by providing a display panel such as a liquid crystal display in each pillar portion.
[Embodiment 3]
Next, the vehicle-mounted image display apparatus 5 of 3rd Embodiment is demonstrated using FIG.

  The in-vehicle image display device 5 of the third embodiment is different from the first embodiment in that a CCD camera 16 is used instead of the detection unit 80. The in-vehicle unit 90 is provided with a CCD interface (hereinafter, CCD I / F) 24 for exchanging data with the CCD camera 16 instead of the I / O 20.

  Then, imaging data (in other words, detection data) representing an image captured by the CCD camera 16 is transmitted to the in-vehicle unit 90 and stored in the RAM 34 of the in-vehicle unit 90. Further, the drawing processor 39 adds color data to the imaging data (detection data) stored in the RAM 34 in the process of S430 in FIG. 4 to generate a computer graphic image. The image captured by the CCD camera 16 may be displayed directly on the display glass panel 40.

  According to the in-vehicle image display device 5 of the third embodiment, since the actual surrounding situation is imaged by the CCD camera 16, it is easy to generate a computer graphic image representing the surrounding situation. Further, since the computer graphic image can be generated more accurately with respect to the surrounding situation, the driver can grasp the surrounding situation more accurately based on the image. Therefore, the occurrence of an accident can be prevented more reliably.

In the third embodiment, the CCD camera 16 corresponds to the situation detection means.
As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, A various form can be taken within the technical scope of this invention.

For example, the in-vehicle image display device of the present invention is not limited to a vehicle (such as a private vehicle) as shown in FIG. 1, but can also be used for a bus, a taxi, or a railway vehicle.
Furthermore, the surrounding situation may be communicated to the driver by voice. In this case, for example, when there is an object, information on what the object is, information on the size and distance of the object, or information on the risk of collision with the object, It can be configured to communicate to the driver.

  Further, in the first embodiment or the second embodiment, a CCD camera may be incorporated in the detection unit 80. In this case, for example, a computer graphic image is generated using the image data of the CCD camera during a bright daytime, and the CCD camera is used during a dark nighttime or when the weather is bad. It is preferable to use detection data of other sensors.

DESCRIPTION OF SYMBOLS 1 ... Vehicle, 2 ... Frame part, 5 ... In-vehicle image display apparatus, 10 ... Infrared sensor, 12 ... Millimeter wave radar, 14 ... Ultrasonic sensor, 16 ... CCD camera, 18 ... Microphone, 20, 22 ... I / O 24 ... CCD I / F, 30 ... CPU, 32 ... ROM, 34 ... RAM, 36 ... HDD, 37 ... reading device, 38 ... frame memory, 39 ... drawing processor, 40 ... display glass panel, 42 ... speaker, 44 ... Operation unit 45 ... projector, 50 ... bus, 80 ... detection unit, 90 ... in-vehicle unit, 95 ... input / output unit.

Claims (5)

A vehicle control device used for a vehicle,
Situation detection means for detecting the situation around the vehicle;
Based on the detection result of the situation detection means, what is the detection object of the detection object around the vehicle based on at least one of a plurality of elements including shape, material, volume, and color A prediction means for predicting
Image generating means for generating image data based on the detection result of the situation detecting means;
Display control means for causing the display means to display an image represented by the image data generated by the image generation means,
The predicting means predicts whether or not the detection target is a person and a position after a predetermined time of the person,
The image generation unit generates image data representing a warning based on the predicted position after a predetermined time if the prediction unit predicts that the detection target is a person.
The vehicle control apparatus characterized by the above-mentioned. The vehicle control device according to claim 1,
A vehicle control apparatus comprising: an operation control unit that controls an operation of the host vehicle when the prediction unit predicts that the detection target is a person. The vehicle control device according to claim 2,
The operation control means includes
A vehicle control device that adjusts a traveling direction of a host vehicle by controlling a steering angle of the host vehicle. The vehicle control device according to claim 2 or claim 3,
The operation control means includes
A vehicle control device that controls the brake of the host vehicle to adjust the speed of the host vehicle. The vehicle control device according to any one of claims 1 to 4,
For each detection object, comprising storage means for storing a plurality of elements including shape, material, volume, and color,
The prediction means compares at least one of shape, material, volume, and color elements between the elements of the image data generated by the image generation means and the elements stored in the storage means, Predicting the detection object;
The vehicle control apparatus characterized by the above-mentioned.

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