JP6458700B2 - Information display device and information display method - Google Patents

Description

  The present invention relates to an information display device and an information display method.

  2. Description of the Related Art Conventionally, a technique for displaying a state around a vehicle photographed by a camera on a display is known (Patent Document 1). In Patent Document 1, in order to inform the occupant of the positional relationship between the vehicle and the obstacle, an extension line on the side surface of the vehicle is displayed superimposed on the camera image.

Japanese Patent No. 4273806

  By the way, when changing lanes, it is possible to avoid contact with the preceding vehicle by grasping the positional relationship between the host vehicle and the preceding vehicle. However, since the lane boundary line is a blind spot of the own vehicle, there is a problem that it is difficult to grasp the timing of return steering.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide an information display device and an information display method capable of easily grasping the timing of return steering when changing lanes.

  An information display device according to an aspect of the present invention captures the front of a host vehicle, and a boundary line between a travel lane before the lane change and a travel lane after the lane change with respect to the captured image, and the host vehicle before the lane change An icon is superimposed on the intersection with an extended line extending in the vehicle longitudinal direction from the outer side surface of the vehicle to display a processed image.

  According to the present invention, it is possible to easily grasp the timing of return steering when changing lanes.

FIG. 1 is a configuration diagram of an information display apparatus according to an embodiment of the present invention. FIG. 2 is a diagram illustrating an image displayed by the information display device according to the embodiment of the present invention. FIGS. 3A, 3 </ b> B, and 3 </ b> C are schematic diagrams that capture the positional relationship between the host vehicle and the icon image from above. FIG. 4 is a flowchart for explaining an operation example of the information display apparatus according to the embodiment of the present invention. FIG. 5 is a diagram illustrating an image displayed by the information display device according to the modification of the embodiment of the present invention. FIGS. 6A, 6 </ b> B, and 6 </ b> C are schematic diagrams that capture the positional relationship between the host vehicle and the icon image from above. FIG. 7 is a flowchart for explaining an operation example of the information display apparatus according to the modification of the present invention. FIGS. 8A, 8B, 8C, and 8D are schematic diagrams that capture the positional relationship between the host vehicle and the icon image from above. FIG. 9 is a diagram illustrating another image displayed by the information display apparatus according to the embodiment of the present invention. FIG. 10 is a diagram illustrating still another image displayed by the information display apparatus according to the embodiment of the present invention. FIG. 11 is a diagram for explaining still another image displayed by the information display apparatus according to the embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same portions are denoted by the same reference numerals, and description thereof is omitted.

  An information display device 1 according to the present embodiment will be described with reference to FIG. As shown in FIG. 1, the information display device 1 includes a front camera 10, a rudder angle sensor 20, a controller 40, and a display 50.

  The front camera 10 (photographing means) is a camera having an image sensor such as a CCD (charge-coupled device) or a CMOS (complementary metal oxide semiconductor), and continuously images the front of the host vehicle in time. Further, the front camera 10 outputs the captured image to the controller 40.

  The steering angle sensor 20 detects the steering angle of the host vehicle and outputs the detected steering angle to the controller 40.

  The controller 40 is a computer including, for example, a CPU, a ROM, a RAM, a data bus connecting them, and an input / output interface, and the CPU performs predetermined processing according to a program stored in the ROM.

  When the controller 40 grasps this functionally, the controller 40 classifies the lane detection unit 41, the yaw angle detection unit 42, the extension line generation unit 43, the intersection calculation unit 44, the storage unit 45, and the synthesis unit 46. be able to.

  The lane detector 41 detects a lane on the road including the lane in which the host vehicle is traveling from an image captured by the front camera 10. The lane detector 41 also detects lane markings such as lane boundary lines and roadway outer lines.

  The yaw angle detection unit 42 detects the yaw angle of the host vehicle from the image captured by the front camera 10.

  The extension line generation unit 43 generates a vehicle front-rear direction extension line on the side surface of the host vehicle using the yaw angle detected by the yaw angle detection unit 42. In general, since the vehicle has side surfaces on the left and right, the extension line generation unit 43 generates two left and right vehicle front-rear direction extension lines, but is not limited thereto. The extension line generation unit 43 may generate one of the left and right vehicle longitudinal direction extension lines.

  The intersection calculation unit 44 calculates an intersection of the lane boundary line or the roadway outer line detected by the lane detection unit 41 and the vehicle longitudinal direction extension line generated by the extension line generation unit 43.

  The storage unit 45 stores an image of the icon C1 to be superimposed.

  The combining unit 46 (processing means) superimposes the icon image stored in the storage unit 45 on the image captured by the front camera 10. More specifically, the composition unit 46 superimposes the icon image on the intersection on the image calculated by the intersection calculation unit 44. Then, the combining unit 46 outputs the processed image to the display 50.

  The display 50 (display means) is, for example, a liquid crystal display mounted on an instrument panel or a liquid crystal display used for a car navigation device, and displays various information to the passenger.

  An image displayed on the display 50 by the information display device 1 having the above configuration will be described with reference to FIG.

  As shown in FIG. 2, the driver is driving in the center lane on the three-lane road, and operates the steering wheel slightly clockwise in order to change the lane to the right lane in order to pass the preceding vehicle M2. At this time, the synthesizing unit 46, with respect to the image P taken by the front camera 10, the vehicle longitudinal direction extension line (hereinafter simply referred to as the extension line L1) and the lane boundary line L3 on the left side surface of the host vehicle in the traveling direction. A pole-shaped icon C1 is superimposed on the intersection of. In other words, the extension line L1 is a line that extends linearly in the vehicle front direction from the turning outer side surface of the host vehicle before the lane change. In this embodiment, the turning outer side surface means a direction opposite to the direction in which the steering wheel is turned. For example, when the steering wheel is turned to the right, the vehicle left side surface becomes the turning outer side surface and the vehicle right side surface turns in the traveling direction. It becomes the inner side. The lane boundary line L3 is a white line that separates the central lane and the right lane.

  An extension line L2 shown in FIG. 2 is an extension line in the vehicle front-rear direction on the right side surface of the host vehicle in the traveling direction. In other words, the extension line L2 is a line that linearly extends in the vehicle front direction from the turning inner side surface of the host vehicle before the lane change. Note that the extension line L1 and the extension line L2 may or may not be superimposed on the image P.

  Next, the details of the positional relationship between the host vehicle and the icon C1 shown in FIG. 2 will be described with reference to FIG. In FIG. 3, the left lane shown in FIG. 2 is omitted for simplification.

  As shown in FIGS. 3A and 3B, as the host vehicle M1 moves from the central lane to the right lane, the distance between the icon C1 and the host vehicle M1 becomes shorter. As shown in FIG. 3C, if the driver performs the return steering after passing the icon C1, the driver can return the host vehicle M1 parallel to the road in the right lane. As described above, the driver can easily recognize the timing of performing the return steering because the timing when the icon C1 is passed is the timing of performing the return steering at a glance. Note that, as illustrated in FIG. 3C, the combining unit 46 deletes the icon C1 after the host vehicle M1 has crossed the lane boundary line L3.

  Next, an operation example of the information display device 1 will be described with reference to the flowchart of FIG. This flowchart starts when the ignition switch is turned on.

  In step S <b> 101, the controller 40 acquires an image photographed by the front camera 10 and a steering angle detected by the steering angle sensor 20.

  In step S102, the controller 40 determines whether or not steering has been performed at a predetermined angle (for example, 6 degrees) or more from a state where the steering wheel is straight. If there is steering beyond a predetermined angle (Yes in step S102), the process proceeds to step S103. On the other hand, when the steering is smaller than the predetermined angle (No in step S102), the process returns to step S101.

  In step S103, the lane detector 41 detects a lane on the road including the traveling lane.

  In step S104, the extension line generator 43 generates the extension line L1 shown in FIG.

  In step S105, the intersection calculation unit 44 calculates an intersection between the extension line L1 and the lane boundary line L3 shown in FIG.

  In step S <b> 106, the combining unit 46 displays the icon C <b> 1 on the intersection 50 at the intersection point.

  In step S107, the controller 40 determines whether or not the host vehicle straddles the lane using the image. When the host vehicle straddles the lane (Yes in step S107), the composition unit 46 deletes the icon C1 from the display 50. On the other hand, when the host vehicle does not straddle the lane (No in step S107), the process returns to step S106.

  As described above, according to the information display device 1 according to the present embodiment, the following operational effects can be obtained.

  The information display device 1 displays the icon C1 on the display 50 with the icon C1 superimposed on the intersection of the extension line L1 and the lane boundary line L3. By this display, the driver can easily recognize the timing at which the return steering is performed because the timing when the icon C1 is passed is the timing at which the return steering is performed.

  Further, the information display device 1 superimposes the icon C1 so that the icon C1 stands perpendicular to the ground. This makes it easier for the driver to grasp the icon C1 on the display 50.

[Modification]
Next, a modification of the present embodiment will be described with reference to FIG.
As shown in FIG. 5, the combining unit 46 includes an extension line L2 (second extension line) that is an extension line in the vehicle front-rear direction on the right side surface of the host vehicle in the traveling direction and a roadway outer line that is drawn at the end of the road. A pole-shaped icon C2 is superimposed on the intersection with L4 (second boundary line). In the modification, the roadway outer line L4 is described as a line drawn at the end of the road, but the roadway outer line L4 is not limited to this. For example, in the case of a four-lane road having a further lane on the right side of the right lane shown in FIG. 5, the road outer line L4 is a white line that separates the right lane and the right lane shown in FIG. In this case, the roadway outer line L4 is a boundary line on the opposite side of the lane boundary line L3 with the travel lane after the lane change is sandwiched therebetween. In the modification, the extension line L1 and the extension line L2 may or may not be superimposed on the image P as in the present embodiment.

  Next, with reference to FIG. 6, details of the positional relationship between the host vehicle shown in FIG. 5 and the icons C1 and C2 will be described. In FIG. 6, the left lane shown in FIG. 5 is omitted for simplification.

  As shown in FIGS. 6A and 6B, as the host vehicle M1 moves from the center lane to the right lane, the distance between the icons C1 and C2 and the host vehicle M1 becomes shorter. As shown in FIG. 3C, if the driver performs the return steering after passing the icon C1, the driver can return the host vehicle M1 parallel to the road in the right lane. As described above, the driver can easily recognize that the timing at which the user passes the icon C1 is the timing for performing the return steering, so that the driver can easily grasp the timing for performing the return steering. In addition, by displaying two icons in this way, it is possible to notify the driver that the lane can be changed without touching the preceding vehicle M2 by operating so as to pass between the icon C1 and the icon C2. Convenience can be improved. As shown in FIG. 3C, the combining unit 46 deletes the icon C1 and the icon C2 after the host vehicle M1 has crossed the lane boundary line L3.

  With reference to the flowchart shown in FIG. 7, the operation example of the information display apparatus 1 in a modification is demonstrated. However, since the operations in steps S201 to S203 and S208 are the same as the operations in steps S101 to 103 and S107 in FIG. 4, detailed description will be omitted and only the differences will be described.

  In step S204, the extension line generator 43 generates the extension line L1 and the extension line L2 shown in FIG.

  In step S205, the intersection calculation unit 44 calculates an intersection between the extension line L1 and the roadway outer line L3 shown in FIG.

  In step S206, the intersection calculation unit 44 calculates an intersection between the extension line L2 and the roadway outer line L4 shown in FIG.

  In step S <b> 207, the composition unit 46 displays the icon C <b> 1 and the icon C <b> 2 on the respective intersections on the display 50.

  As described above, according to the information display device 1 according to the modification, the following functions and effects can be obtained.

  In addition, the information display device 1 superimposes the icon C1 on the intersection of the extension line L1 and the lane boundary line L3, and superimposes the icon C2 on the intersection of the extension line L2 and the roadway outer line L4. As a result, the driver can easily recognize the timing at which the return steering is performed because the timing when the icon C1 is passed is the timing at which the return steering is performed. In addition, by displaying two icons, it is possible to notify the driver that the lane can be changed without touching the preceding vehicle M2 if the operation is performed so as to pass between the icons C1 and C2. Can be improved.

  Although the embodiments of the present invention have been described as described above, it should not be understood that the descriptions and drawings constituting a part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

  In this embodiment, the icon C1 is superimposed on the intersection of the extension line L1 and the lane boundary line L3. In addition, in the modified example, the icon C2 is superimposed on the intersection of the extension line L2 and the roadway outer line L4. The overlapping is not limited to these intersections. For example, the icon C1 may be superimposed on the intersection of the extension line L1 and the preceding vehicle M2.

  Specifically, as illustrated in FIG. 8A, the combining unit 46 may superimpose the icon C1 on the intersection of the extension line L1 and the preceding vehicle M2. As a result, the driver can be notified that the vehicle will contact the preceding vehicle M2 at the steering angle as it is. Thereafter, as shown in FIGS. 8B, 8C, and 8D, when the driver turns the steering wheel in the turning direction, the intersection where the icon C1 is superimposed becomes a lane boundary line on the near side of the preceding vehicle M2. Move on to L3. In other words, the preceding vehicle M2 and the extension line L2 do not intersect by turning the steering wheel in the turning direction. If the lane is changed at the rudder angle when the preceding vehicle M2 and the extension line L2 do not cross each other, there is no contact with the preceding vehicle M2, so that the driver can grasp that it is not necessary to turn the steering wheel any more. As for detection of the preceding vehicle M2 (obstacle), the lane detection unit 41 (obstacle detection means) may detect the preceding vehicle M2 using the image of the front camera 10.

  Moreover, the information display apparatus 1 may change the color of the icon C1 according to a safety degree. For example, as shown in FIG. 8 (a), when the icon C1 is displayed at the intersection of the extension line L1 and the preceding vehicle M2, there is a possibility that the steering angle may remain in contact with the preceding vehicle M2. The display device 1 displays the color of the icon C1 in red. Further, as shown in FIGS. 8B and 8C, when the icon C1 is displayed at the intersection of the extension line L1 and the lane boundary line L3, the lane can be changed safely without contacting the preceding vehicle M2. The information display device 1 displays the color of the icon C1 in green. Thus, by displaying the color of the icon C1 in red or green depending on whether or not there is a possibility of contacting the preceding vehicle M2 at the time of lane change, the driver can grasp the safety degree regarding the lane change at a glance. .

  In the present embodiment and the modification, the icons C1 and C2 are described as pole shapes, but the shapes of the icons C1 and C2 are not limited to pole shapes. For example, as shown in FIG. 9, the controller 40 may display the icons C1 and C2 as L-shaped solid objects perpendicular to the ground. By displaying the icons C1 and C2 as L-shaped solid objects, the driver can easily grasp the icons C1 and C2.

  Further, as shown in FIG. 10, the information display device 1 may superimpose the planned travel route R. The planned travel route R is a route that travels when the host vehicle changes lanes. As shown in FIG. 10, the information display device 1 can present the route to be traveled to the driver by displaying the planned travel route R on the road like a carpet.

  Moreover, as shown in FIG. 11, the information display apparatus 1 may superimpose the extension line L1 as the length to the icon C1. As a result, the display 50 is clear and the screen is easy to see for the driver.

  Further, the present invention can be applied to an autonomous driving vehicle.

DESCRIPTION OF SYMBOLS 10 Front camera 20 Rudder angle sensor 40 Controller 41 Lane detection part 42 Yaw angle detection part 43 Extension line production | generation part 44 Intersection calculation part 45 Memory | storage part 46 Synthesis | combination part 50 Display

Claims (8)

Photographing means for photographing the front of the vehicle;
Processing means for processing an image photographed by the photographing means;
Display means for displaying the image processed by the processing means,
The processing means has an icon at the intersection of the boundary line between the travel lane before the lane change and the travel lane after the lane change, and the extension line extending in the vehicle front-rear direction from the turning outer side surface of the host vehicle before the lane change. An information display device characterized by superimposing. It further comprises an obstacle detection means for detecting an obstacle,
The said processing means superimposes the said icon on the intersection of the said preceding vehicle and the said extension line when the preceding vehicle is detected ahead of the said own vehicle by the said obstacle detection means. The information display device described.   The information display device according to claim 2, wherein the processing unit changes a color of the icon according to a possibility of contacting the preceding vehicle.   The information processing apparatus according to claim 1, wherein the processing unit superimposes the icon so that the icon stands perpendicular to the ground.   The processing means includes a second extension line extending in the vehicle front-rear direction from a turning inner side surface of the host vehicle before the lane change, and a second side opposite to the boundary line across the travel lane after the lane change. The information display device according to claim 1, wherein the icon is superimposed on an intersection with a boundary line.   The information display device according to claim 1, wherein the processing unit superimposes an image indicating a planned travel route.   6. The information display apparatus according to claim 5, wherein the processing unit superimposes the extension line and the second extension line as a length to the icon. Take a picture of the front of your vehicle,
For the photographed image, at the intersection of the boundary line between the driving lane before the lane change and the driving lane after the lane change, and the extension line extending in the vehicle front-rear direction from the turning outer side surface of the host vehicle before the lane change Superimpose icon
An information display method comprising displaying the processed image on a display means.

Images