JP6561899B2 - Vehicle information reporting device - Google Patents

Description

  The present invention relates to a vehicle information notification device that is mounted on a vehicle such as an automobile and notifies information for alerting the driver of the vehicle.

  When a driver drives a vehicle (automobile), for example, in a place where a relatively long downhill followed and then switched to an uphill, or a place where the driver switched from an uphill to a downhill, the driver May cause the illusion of flatland or downhill, or the illusion of downhill as flat or uphill. As described above, when the driver has the illusion of illusion of the road gradient, problems such as neglecting acceleration on the uphill and causing traffic congestion or excessive speed on the downhill are caused. Therefore, conventionally, it has been considered to install a road sign on the shoulder of a slope to indicate to the driver that the running road is an uphill or a downhill (see, for example, Patent Document 1). .

Japanese Patent Laid-Open No. 2005-282301

  However, as described above, it is unclear whether or not the driver will watch the road sign carefully only by displaying the road gradient with the road sign, and the vehicle speed, height, and driver's line of sight Depending on the height, how you feel about the gradient will be different. For this reason, it has been difficult for the driver to think that a great effect can be obtained in preventing or eliminating the illusion of road gradient.

  The present invention has been made in view of the above circumstances, and the object thereof is to be mounted on a vehicle and traveling to a location where an illusion about a road gradient is likely to occur for a driver, or actually It is an object of the present invention to provide a vehicle information notification device capable of teaching that an illusion has occurred.

In order to achieve the above object, the vehicle information notifying device (1) of the present invention is such that the vehicle (V) is traveling in a location where the driver is likely to cause the illusion of illusion of the road gradient, or the driver is an illusion. Determining means (3) for determining whether or not the illusion is considered, and when the determination means (3) determines that the illusion is considered, the driver relates to the road gradient. An informing means ( 4 ) for informing the information, and the informing means (4) is a horizontal indicating the relative horizontal direction when the driver looks forward on the head-up display (12) as information on the road gradient. The gradient teaching image (P) including the reference line (L0) and the actual horizontal equivalent line (L1) indicating the actual horizontal direction is displayed (invention of claim 1).

  According to this, the illusion consideration state where it is estimated by the determination means (3) that the vehicle is traveling in a place where the driver is likely to cause the illusion of illusion of the road gradient, or that the driver is causing the illusion. It is determined whether or not. When the determination means (3) determines that the illusion is in consideration, the notification means (4, 12, 21) notifies the driver of information regarding the road gradient. Therefore, it is possible to teach the driver that the vehicle is traveling in a place where an illusion related to the road gradient is likely to occur, or that the illusion is actually occurring. .

1 is a block diagram schematically showing an overall configuration of a system according to a first embodiment of the present invention. The flowchart which shows the process sequence of the information alerting | reporting regarding the road gradient which a control apparatus performs Diagram for explaining the acceleration of the vehicle Diagram for explaining the horizontal direction when the vehicle is on a downhill The figure which shows two display examples of a head-up display when a vehicle is on a downhill Diagram for explaining the horizontal direction when the vehicle is on an uphill The figure which shows two display examples of a head-up display when a vehicle is on an uphill The flowchart which shows the 2nd Embodiment of this invention and shows the process sequence of the information alerting | reporting regarding the road gradient which a control apparatus performs The figure which shows a mode that the pseudo tactile sense in a downhill (a) and an uphill (b) is provided.

(1) First Embodiment Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 schematically shows a system configuration of a vehicle information notification apparatus 1 according to this embodiment mounted on a vehicle V such as an automobile (see FIG. 3 and the like). The vehicle information notification device 1 includes a control device 2 mainly composed of a microcomputer. As will be described in detail later, the control device 2 includes a condition determination calculation unit 3 that functions as a determination unit, and a device control calculation & control module unit 4 (hereinafter simply referred to as “device control unit 4” that functions as part of a notification unit. ")".

  A front camera 5 is connected to the control device 2, and image information obtained by photographing a road ahead is input from the front camera 5. The control device 2 is connected to a gradient sensor 6, a vehicle speed sensor 7, and an accelerator opening sensor 8. From these, a road gradient detection signal by the gradient sensor 6, a vehicle speed detection signal by the vehicle speed sensor 7, An accelerator opening detection signal from the accelerator opening sensor 8 is input. As will be described later, each of these sensors 6, 7, and 8 functions as a behavior detecting means. The gradient sensor 6 is composed of, for example, a triaxial gyro sensor, a G sensor, or the like.

  Further, a known vehicle position detection device 9 as a vehicle position detection means is connected to the control device 2 so that a vehicle position detection signal is input. Although detailed illustration and description are omitted, the vehicle position detection device 9 receives a self-contained navigation for obtaining a travel locus (relative position) of the vehicle V using various on-vehicle sensors and a radio wave from a GPS satellite. The position of the vehicle V is detected in combination with radio navigation for obtaining the absolute position of the vehicle V.

  The control device 2 is connected to a storage device 10 that stores programs and various data, and is also connected to a road map database 11. The map database 11 stores road map data and data accompanying it, and functions as a road map data acquisition means. The road map data includes link IDs (identifiers), link lengths, link start points, end point (nodes) position data (longitude, latitude), angle (direction) data, each of which defines a road network with nodes and links. It includes data such as road width, road type, and road attributes. In the present embodiment, the road map data includes data of illusion attention points that are considered to be likely to cause an illusion by the driver. The map database 11 may be provided in an external server, and road map data may be acquired from the server by communication when necessary.

  A head-up display (HUD) 12 having a known configuration is connected to the control device 2. As shown in FIGS. 5 and 7, the head-up display 12 projects and displays the generated image in the display range A so as to be superimposed on the windshield (windshield) F of the vehicle. Image generation and display control are performed by the device control unit 4 of the device 2. As will be described later, the device control unit 4 displays information on the road gradient (gradient teaching image P) on the head-up display 12 when the optical illusion consideration state is determined. The head-up display 12 constitutes notification means. Note that, as indicated by a broken line in FIG. 1, it is possible to control the control device 2 by connecting a pseudo-vibration tactile device 21.

  The condition determination calculation unit 3 of the control device 2 functions as a determination unit that determines whether or not the driver is in an illusion consideration state that requires information notification regarding the illusion of illusion of the road gradient. In the present embodiment, the optical illusion consideration state is assumed to be a state where the vehicle V is traveling in a place where the driver is likely to cause an illusion of illusion of the road gradient, or that the driver is actually causing the optical illusion. A state corresponding to at least one of the states.

  More specifically, as will be described later in the description of the operation (flowchart description), the condition determination calculation unit 3 determines that the vehicle position detected by the vehicle position detection device 9 is on the road map data acquired from the map database 11. It is determined whether or not the optical illusion attention location is met (matches), and it is determined that the illusion consideration state is present when the vehicle V passes the illusion attention location.

  Alternatively, the condition determination calculation unit 3 detects the behavior of the vehicle V from the detection signals of the gradient sensor 6, the vehicle speed sensor 7, and the accelerator opening sensor 8, and the driver causes an illusion based on the behavior of the vehicle V. Estimate whether or not. That is, as will be described later in the explanation of the operation (flowchart explanation), when the vehicle V is traveling on a slope, the acceleration due to gravity that varies depending on the inclination angle of the slope is taken into consideration, and the vehicle V If it is determined that the vehicle is traveling at a speed that is not noticed by the driver even though it is affected by the acceleration, it is estimated that an illusion has occurred, and it is determined that the illusion is considered.

  When the condition determination calculation unit 3 determines that the illusion is in consideration, the device control unit 4 of the control device 2 generates a gradient teaching image P related to the road gradient as illustrated in FIGS. 5 and 7. . At the same time, the generated gradient teaching image P is transmitted to the head-up display 12, and the head-up display 12 provides the driver with the display range A set in a horizontally long rectangular shape on the driver's seat side of the windshield F. Project information about road gradients.

  Although this will also be described in detail later, in the present embodiment, the gradient teaching image P includes a horizontal reference line L0 indicating the relative horizontal direction when the driver looks forward, an actual horizontal equivalent line L1 indicating the actual horizontal direction, It consists of a vehicle width equivalent line L2 representing the vehicle width in perspective and a triangle T representing the gradient. At this time, the device control unit 4 recognizes whether the vehicle V is uphill or downhill, or how much the road is inclined, and considers the road recognized by the image of the front camera 5, A teaching image P is generated. Note that if the traveling road gradient changes, the gradient teaching image P also changes accordingly.

  Next, the operation of the vehicle information notification device 1 configured as described above will be described with reference to FIGS. Here, when the driver drives the vehicle V such as an automobile, for example, driving at a place where a relatively long downhill is followed and then switched to an uphill, or a place where an uphill is switched to a downhill. There is a case where a person has an illusion that the uphill is an illusion of a flat ground or a downhill, or the downhill is an illusion of a flat ground or an uphill. If the driver has the illusion of illusion of such a road gradient, problems such as neglecting acceleration on the uphill and causing traffic congestion or excessive speed on the downhill will arise.

  Therefore, in the present embodiment, the control device 2 determines whether the vehicle V is traveling in a location where the driver is likely to cause the illusion of illusion of the road gradient, and whether the driver is estimated to have the illusion. Whether the illusion is in consideration or at least one of them is reported to the driver regarding the road gradient. The flowchart of FIG. 2 shows the flow of processing for determining whether or not the illusion is in consideration and information notification regarding road gradient, which is executed by the control device 2 while the vehicle V is traveling.

  That is, first, in step S1, it is confirmed whether or not the head-up display 12 is connected in an operable state. When the operable head-up display 12 is confirmed (Yes in step S1), the current position information of the vehicle V is acquired from the vehicle position detection device 9 in step S2, and the sensors 6 to 8 are used. Information on the gradient, speed (acceleration), and accelerator opening of the vehicle V is acquired. In step S3, the data of the illusion attention location on the road map data is acquired from the map database 11 and compared with the own vehicle position detected by the own vehicle position detection device 9.

  In step S4, it is determined whether or not the vehicle position corresponds to an illusion attention point. If the vehicle V has passed the illusion attention part (Yes in step S4), it is determined that the illusion is in consideration, and the process of step S9 described later is executed. If the vehicle position does not correspond to the illusionary attention location (No in step S4), it is determined in next step S5 whether the vehicle V is traveling on a slope. If vehicle V is not traveling on a hill (No in step S5), the display from head-up display 12 is stopped in step S6, and then the processing from step S2 is repeated.

  On the other hand, when it is determined that the vehicle V is traveling on a slope (Yes in step S5), in step S7, from the gradient (inclination in the front-rear direction), weight, and accelerator opening of the vehicle V. Then, the acceleration (speed change) of the vehicle V is calculated. Then, in the next step S8, it is determined whether or not the calculated acceleration is within a set threshold value, that is, not less than Min and not more than Max.

  Here, as exemplified by the downhill in FIG. 3, when the vehicle V travels on the downhill in the direction of the thick arrow, the gravity is determined from the gradient (inclination angle) θ and the gravity acceleration G in the horizontal direction and the vertical direction of the road. And the acceleration f1 can be obtained from the horizontal component. Further, the frictional resistance force f2 in the direction opposite to the traveling direction of the vehicle V can be obtained from the vertical component and the friction coefficient of the tire. However, the friction coefficient of the tire is set in consideration of variations.

  Since the acceleration of the vehicle V can be predicted from the acceleration f1 and the frictional resistance force f2 when it is assumed that the driver has not noticed the downhill and did not make an appropriate adjustment of the accelerator opening, Range (Min and Max) can be obtained. Accordingly, when the calculated acceleration is within the threshold value, that is, when Min <acceleration <Max, it can be estimated that the driver actually has an illusion. The same can be said for an uphill slope, only that the acceleration is negative (decelerated).

  Returning to FIG. 2, if the acceleration deviates from the set threshold value (No in step S7), it can be estimated that the driver has not caused the optical illusion, so the process proceeds to step S6, where the head-up display is displayed. After the display of 12 is stopped, the processing from step S2 is repeated. On the other hand, when the acceleration of the vehicle V is within the threshold value range (Yes in step S7), it is estimated that the driver has an illusion (determined that the illusion is in consideration), and the next In step S9, the gradient teaching image P is generated, and information related to the road gradient, that is, the projection display of the gradient teaching image P is performed on the display range A of the windshield F by the head-up display 12.

  The information display in step S9 is performed as follows. For example, when the vehicle V is traveling downhill, the relative horizontal direction when the driver looks straight ahead from the vehicle V is lower than the actual horizontal direction, as shown in FIG. I come to. In addition, the difference is larger when the gradient as shown in FIG. 4B is steep than when the gradient shown in FIG. As illustrated in FIG. 5, as the gradient teaching image P, first, a horizontal reference line L0 (indicated by a dotted line in the figure) indicating a relative horizontal direction when the driver looks straight ahead from the vehicle V is, for example, It is displayed in a form extending in the left-right direction with a green line. In addition, the actual horizontal equivalent line L1 indicating the original (actual) horizontal direction, for example, by a horizontal line corresponding to the vehicle width is indicated by a different color, for example, yellow, and two left and right vehicle width equivalent lines L2 for representing perspective are provided. They are displayed in the same color (yellow) so as to be continuous from both ends of the actual horizontal equivalent line L1.

  Further, a triangle T corresponding to a road gradient (tilt angle) is displayed in green, for example, so as to be shaded with the vehicle width equivalent line L2 as one side. In this case, on the downhill, as shown in FIG. 5, a triangle T is displayed below the vehicle width equivalent line L2. The triangle T is displayed in a form filled with green, for example, but in FIG. 5 (and FIG. 7), it is shown with hatching for convenience. FIG. 5A illustrates a case where the slope of the downhill is relatively small, and FIG. 5B illustrates a case where the slope is relatively large. In the downhill, the actual horizontal equivalent line L1 is the horizontal reference line. It will be displayed above L0 (beyond the scenery in front), but as the slope (angle) of the hill increases, the vertical distance between the actual horizontal equivalent line L1 and the horizontal reference line L0 increases. The height dimension of the triangle T is also large.

  On the other hand, as shown in FIG. 6, when the vehicle V is traveling uphill, the relative horizontal direction when the driver looks straight ahead from the vehicle V is higher than the actual horizontal direction. I come to. In the case of uphill, as shown in FIG. 7, the actual horizontal equivalent line L1 is displayed below the horizontal reference line L0 (front side of the front scenery). On the uphill, as shown in FIG. 7, a triangle T is displayed above the vehicle width equivalent line L2. In this case as well, the slope (angle) of the slope is smaller (see FIG. 7A) and the slope (angle) of the slope is larger (see FIG. 7B). The vertical distance from the reference line L0 is increased, and the height dimension of the triangle T is also increased.

  The horizontal reference line L0 and the actual horizontal equivalent line L1 serve as a mark, and the driver can recognize (understand) that the vehicle is traveling downhill and uphill, and further, the degree of the gradient. The triangle T also allows the driver to easily understand the downhill and uphill slopes and how much the slope is. In this way, when the gradient teaching image P is projected and displayed on the head-up display 12, the processing from step S2 is repeated. Thus, if the road gradient changes, the display of the gradient teaching image P also changes accordingly.

  As described above, according to the present embodiment, the condition determination calculation unit 3 causes the vehicle V to travel in a place where the driver is likely to cause the illusion of illusion of the road gradient, or the driver actually causes the illusion. It is determined whether or not the illusion is considered to be present. When the condition determination calculation unit 3 determines that the illusion is in consideration, the device control unit 4 notifies the driver of information regarding the road gradient by displaying the gradient teaching image P on the head-up display 12. .

  Accordingly, it is possible to teach the driver that the vehicle is mounted on the vehicle V and is traveling in a place where an illusion related to the road gradient is likely to occur, or that the illusion is actually occurring. It has an excellent effect of becoming. In particular, in the present embodiment, either the case where it is determined that the vehicle V is traveling in a place where the optical illusion is likely to occur or the case where the driver is estimated to actually cause the optical illusion are applicable. In this case, since the gradient teaching image P is displayed, the illusion can be prevented and eliminated, which is more effective.

  At this time, since the vehicle position detected by the vehicle position detection device 9 is determined based on whether or not the vehicle position detected by the vehicle position detection device 9 coincides with the illusion attention location on the road map data. Thus, it is possible to reliably detect that the vehicle V is traveling in a place where an illusion is likely to occur. Further, since it is estimated whether or not the driver has an illusion based on the actual behavior of the vehicle V, in this case, the speed change (acceleration) of the vehicle V with respect to the slope of the slope, the driver actually has the illusion. Can be estimated with sufficient certainty.

  Furthermore, in the present embodiment, since the head-up display 12 is configured to display information related to the road gradient (gradient teaching image P), it is easy to understand and reliably notify the driver that the illusion is in consideration. Is possible. In particular, as the gradient teaching image P, the horizontal reference line L0, the actual horizontal equivalent line L1, the vehicle width equivalent line L2, and the triangle T are displayed, so that the driver can distinguish between downhill and uphill, The degree of gradient can be easily notified.

(2) Second Embodiment and Other Embodiments Next, a second embodiment of the present invention will be described with reference to FIGS. In addition, about the same part as the said 1st Embodiment, a new illustration and detailed description are abbreviate | omitted, and a code | symbol is also used in common. The second embodiment is different from the first embodiment in the following points. That is, as shown in FIG. 1, a pseudo vibration tactile device 21 is connected to the control device 2 and is controlled by the device control unit 4.

  In the present embodiment, the pseudo-vibration tactile device 21 is composed of, for example, a vibration actuator incorporated in the steering wheel W portion, and seems to go downhill or uphill due to vibration to the driver. It is configured to be able to give a pseudo sense. Further, the intensity of the pseudo sensory level at that time can be adjusted. This pseudo-vibration tactile device 21 functions as an informing means for informing the driver of information relating to the road gradient.

  As shown in the flowchart of FIG. 8, in the present embodiment, the control device 2 first checks in step S11 whether or not the pseudo-vibration tactile device 21 is connected in an operable state. Then, whether the vehicle V is traveling in a location where the driver is likely to cause an illusion of road gradient (steps S2 to S4), and whether the driver is estimated to have an illusion (step S5). To S8). If it is determined that the illusion considering state corresponds to at least one (Yes in Step S4 or Yes in Step S8), the pseudo-vibration tactile device 21 is operated in Step S12 to the driver. A pseudo tactile sensation is given to notify information on the road gradient. Note that the pseudo tactile sensation by the pseudo vibration tactile device 21 is stopped in step S13 instead of step S6.

  Information notification to the driver in step S12 is performed as follows. For example, when the vehicle V is traveling on a downhill, a pseudo tactile sensation that descends in the direction of the arrow d is given to the driver holding the steering wheel W as shown in FIG. At this time, adjustment and control are performed so that the level of the descent sensation increases as the slope of the slope increases. Further, when the vehicle V is traveling uphill, a pseudo tactile sensation is given to the driver holding the steering wheel W as shown in FIG. . Also in this case, adjustment and control are performed so that the level of the ascent feeling increases as the slope of the slope increases.

  According to the second embodiment as described above, the vehicle V is mounted on the vehicle V and is traveling in a place where the driver is likely to cause an illusion about the road gradient. It has an excellent effect that it is possible to teach that this is happening. Then, by using the pseudo tactile sensation by the pseudo vibration tactile device 21, it is possible to easily and reliably teach the driver that the illusion is in consideration.

  In the second embodiment, as a pseudo-tactile sense, the driver is taught to ascend and descend by the vibration of the steering wheel W. However, the vibration of the driver's seat can be used. . Further, the notification means is not limited to display using the head-up display 12, and may be configured to perform notification by display of an in-vehicle display device provided in the instrument panel center unit or the meter unit. It is also possible to employ a configuration in which notification is performed using notification sound or synthesized sound. For example, a combination of a plurality of means such as using both display and pseudo-tactile sensation is possible.

  Further, in the above embodiment, the road map data is configured to include information on the illusion attention location in advance, but from the road gradient information (altitude information), whether the current position of the vehicle V is at the illusion attention location. It is also possible to adopt a configuration for determining whether or not. As a method for estimating whether or not the driver has an illusion, when the vehicle V is traveling on a slope, there is an excess or deficiency specific to the driver's accelerator operation amount when there is an illusion. You may comprise so that it may estimate by whether it is doing.

  In addition, the present invention is as described above, and various modifications can be made with respect to the display form (pattern) when displaying information related to the road gradient and the hardware configuration of the entire system of the vehicle information notification apparatus. The present invention is not limited to the embodiments described above, and can be implemented with appropriate modifications within a range not departing from the gist.

  In the drawings, 1 is a vehicle information notification device, 2 is a control device, 3 is a condition determination calculation unit (determination unit), 4 is a device control calculation & control module unit (notification unit), and 9 is a vehicle position detection device (automatic detection unit). (Car position detection means), 11 is a map database (road map data acquisition means), 12 is a head-up display (notification means), 21 is a pseudo-vibration tactile device (notification means), V is a vehicle, and W is a steering wheel.

Claims (4)

Determining means (3) for determining whether the vehicle (V) is traveling in a place where the driver is likely to cause the illusion of illusion of the road gradient, or whether the driver is in an illusion consideration state. )When,
An informing means (4) for informing the driver of information relating to the road gradient when the judging means (3) determines that the optical illusion is considered;
The informing means (4) shows the horizontal reference line (L0) indicating the relative horizontal direction as viewed by the driver and the actual horizontal direction on the head-up display (12) as information on the road gradient. A vehicle information notification apparatus that displays a gradient teaching image (P) including an actual horizontal equivalent line (L1). The notification Hand stage, as the information on the road gradient, the display of the gradient teaching image (P), to the driver, the vehicle is a pseudo sense of lowered granted when the vehicle is traveling downhill, the vehicle is The vehicle information notification device according to claim 1, wherein a pseudo sense of ascending is imparted when traveling on an uphill. Road map data acquisition means for acquiring road map data, and own vehicle position detection means for detecting the position of the vehicle,
3. The vehicle according to claim 1, wherein the determination unit determines whether the own vehicle position detected by the own vehicle position detection unit coincides with an illusion attention position on the road map data. 4. Information notification device. Equipped with behavior detection means for detecting the behavior of the vehicle,
The vehicle information notification device according to claim 1, wherein the determination unit estimates whether or not the driver has an illusion based on the behavior detected by the behavior detection unit.

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